Ultrasonic surgical instruments with control mechanisms

ABSTRACT

A surgical instrument including a shaft including a distal portion and an articulatable portion is disclosed. The articulatable portion, positioned proximal to the distal portion, includes a plurality of joint members. A first articulation cable extends through each first channel of each of the plurality of joint members and a second articulation cable extends through each second channel of each of the plurality of joint members to the distal portion. The first and second articulation cables are transitionable between: (i) an unlocked state, where the first and second articulation cables are free to translate distally and proximally and the plurality of joint members are slidable relative to one another to pivot the distal portion away from a longitudinal axis, and (ii) a locked state, where translation of the first and second articulation cables is locked, causing a position of the distal portion relative to the longitudinal axis to be locked.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application claiming priority under35 U.S.C. § 120 to U.S. patent application Ser. No. 13/538,733, filedJun. 29, 2012, entitled “Ultrasonic Surgical Instruments with ControlMechanisms,” which issued on Nov. 21, 2017 as U.S. Pat. No. 9,820,768,the entire disclosure of which is hereby incorporated by referenceherein.

This application is related to the following U.S. Patent Applications,filed Jun. 29, 2012, which are incorporated herein by reference in theirentirety:

U.S. patent application Ser. No. 13/539,096, entitled “Haptic FeedbackDevices for Surgical Robot,” now U.S. Pat. No. 9,198,714;

U.S. patent application Ser. No. 13/539,110, entitled “Lockout Mechanismfor Use with Robotic Electrosurgical Device,” now U.S. Pat. No.9,326,788;

U.S. patent application Ser. No. 13/539,117, entitled “Closed FeedbackControl for Electrosurgical Device,” now U.S. Pat. No. 9,226,767;

U.S. patent application Ser. No. 13/538,588, entitled “SurgicalInstruments with Articulating Shafts,” now U.S. Pat. No. 9,393,037;

U.S. patent application Ser. No. 13/538,601, entitled “UltrasonicSurgical Instruments with Distally Positioned Transducers,” now U.S.Patent Application Publication No. 2014/0005702;

U.S. patent application Ser. No. 13/538,700, entitled “SurgicalInstruments with Articulating Shafts,” now U.S. Pat. No. 9,408,622;

U.S. patent application Ser. No. 13/538,711, entitled “UltrasonicSurgical Instruments with Distally Positioned Jaw Assemblies,” now U.S.Pat. No. 9,351,754;

U.S. patent application Ser. No. 13/538,720, entitled “SurgicalInstruments with Articulating Shafts,” now U.S. Patent ApplicationPublication No. 2014/0005705; and

U.S. patent application Ser. No. 13/539,122, entitled “SurgicalInstruments With Fluid Management System,” now U.S. Pat. No. 9,283,045.

BACKGROUND

Various embodiments are directed to surgical instruments includingvarious control mechanisms for surgical instruments.

Ultrasonic surgical devices, such as ultrasonic scalpels, are used inmany applications in surgical procedures by virtue of their uniqueperformance characteristics. Depending upon specific deviceconfigurations and operational parameters, ultrasonic surgical devicescan provide substantially simultaneous transection of tissue andhomeostasis by coagulation, desirably minimizing patient trauma. Anultrasonic surgical device comprises a proximally-positioned ultrasonictransducer and an instrument coupled to the ultrasonic transducer havinga distally-mounted end effector comprising an ultrasonic blade to cutand seal tissue. The end effector is typically coupled either to ahandle and/or a robotic surgical implement via a shaft. The blade isacoustically coupled to the transducer via a waveguide extending throughthe shaft. Ultrasonic surgical devices of this nature can be configuredfor open surgical use, laparoscopic, or endoscopic surgical proceduresincluding robotic-assisted procedures.

Ultrasonic energy cuts and coagulates tissue using temperatures lowerthan those used in electrosurgical procedures. Vibrating at highfrequencies (e.g., 55,500 times per second), the ultrasonic bladedenatures protein in the tissue to form a sticky coagulum. Pressureexerted on tissue by the blade surface collapses blood vessels andallows the coagulum to form a hemostatic seal. A surgeon can control thecutting speed and coagulation by the force applied to the tissue by theend effector, the time over which the force is applied and the selectedexcursion level of the end effector.

DRAWINGS

The features of the various embodiments are set forth with particularityin the appended claims. The various embodiments, however, both as toorganization and methods of operation, together with advantages thereof,may best be understood by reference to the following description, takenin conjunction with the accompanying drawings as follows:

FIG. 1 illustrates one embodiment of a surgical system including asurgical instrument and an ultrasonic generator.

FIG. 2 illustrates one embodiment of the surgical instrument shown inFIG. 1.

FIG. 3 illustrates one embodiment of an ultrasonic end effector.

FIG. 4 illustrates another embodiment of an ultrasonic end effector.

FIG. 5 illustrates an exploded view of one embodiment of the surgicalinstrument shown in FIG. 1.

FIG. 6 illustrates a cut-away view of one embodiment of the surgicalinstrument shown in FIG. 1.

FIG. 7 illustrates various internal components of one example embodimentof the surgical instrument shown in FIG. 1

FIG. 8 illustrates a top view of one embodiment of a surgical systemincluding a surgical instrument and an ultrasonic generator.

FIG. 9 illustrates one embodiment of a rotation assembly included in oneexample embodiment of the surgical instrument of FIG. 1.

FIG. 10 illustrates one embodiment of a surgical system including asurgical instrument having a single element end effector.

FIG. 11 is a perspective view of one embodiment of an electrical energysurgical instrument.

FIG. 12 is a side view of a handle of one embodiment of the surgicalinstrument of FIG. 11 with a half of a handle body removed to illustratesome of the components therein.

FIG. 13 illustrates a perspective view of one embodiment of the endeffector of the surgical instrument of FIG. 11 with the jaws open andthe distal end of an axially movable member in a retracted position.

FIG. 14 illustrates a perspective view of one embodiment of the endeffector of the surgical instrument of FIG. 11 with the jaws closed andthe distal end of an axially movable member in a partially advancedposition.

FIG. 15 illustrates a perspective view of one embodiment of the axiallymoveable member of the surgical instrument of FIG. 11.

FIG. 16 illustrates a section view of one embodiment of the end effectorof the surgical instrument of FIG. 11.

FIG. 17 illustrates a section a perspective view of one embodiment of acordless electrical energy surgical instrument.

FIG. 18A illustrates a side view of a handle of one embodiment of thesurgical instrument of FIG. 17 with a half handle body removed toillustrate various components therein.

FIG. 18B illustrates an RF drive and control circuit, according to oneembodiment.

FIG. 18C illustrates the main components of the controller, according toone embodiment.

FIG. 19 illustrates a block diagram of one embodiment of a roboticsurgical system.

FIG. 20 illustrates one embodiment of a robotic arm cart.

FIG. 21 illustrates one embodiment of the robotic manipulator of therobotic arm cart of FIG. 20.

FIG. 22 illustrates one embodiment of a robotic arm cart having analternative set-up joint structure.

FIG. 23 illustrates one embodiment of a controller that may be used inconjunction with a robotic arm cart, such as the robotic arm carts ofFIGS. 19-22.

FIG. 24 illustrates one embodiment of an ultrasonic surgical instrumentadapted for use with a robotic system.

FIG. 25 illustrates one embodiment of an electrosurgical instrumentadapted for use with a robotic system.

FIG. 26 illustrates one embodiment of an instrument drive assembly thatmay be coupled to a surgical manipulators to receive and control thesurgical instrument shown in FIG. 24.

FIG. 27 illustrates another view of the instrument drive assemblyembodiment of FIG. 26 including the surgical instrument of FIG. 24.

FIG. 28 illustrates another view of the instrument drive assemblyembodiment of FIG. 26 including the electrosurgical instrument of FIG.25.

FIGS. 29-31 illustrate additional views of the adapter portion of theinstrument drive assembly embodiment of FIG. 26.

FIGS. 32-34 illustrate one embodiment of the instrument mounting portionof FIGS. 24-25 showing components for translating motion of the drivenelements into motion of the surgical instrument.

FIGS. 35-37 illustrate an alternate embodiment of the instrumentmounting portion of FIGS. 24-25 showing an alternate example mechanismfor translating rotation of the driven elements into rotational motionabout the axis of the shaft and an alternate example mechanism forgenerating reciprocating translation of one or more members along theaxis of the shaft 538.

FIGS. 38-42 illustrate an alternate embodiment of the instrumentmounting portion FIGS. 24-25 showing another alternate example mechanismfor translating rotation of the driven elements into rotational motionabout the axis of the shaft.

FIGS. 43-46A illustrate an alternate embodiment of the instrumentmounting portion showing an alternate example mechanism for differentialtranslation of members along the axis of the shaft (e.g., forarticulation).

FIGS. 46B-46C illustrate one embodiment of a tool mounting portioncomprising internal power and energy sources.

FIG. 47 illustrates a schematic cross-sectional view of a portion of oneexample embodiment of an ultrasonic medical instrument comprising first,second and third waveguide portions, where the second waveguide portionis substantially ½ of a resonant-longitudinal-wavelength long.

FIG. 47A illustrates cross sections for two example embodiments of thesecond waveguide portion of FIG. 47.

FIG. 48 illustrates a schematic cross-sectional view of a portion of oneexample embodiment of an ultrasonic medical instrument comprising firstand second waveguide portions, where the first waveguide portion spansmultiple ½ resonant longitudinal wavelengths.

FIG. 49 illustrates a schematic cross-sectional view of one exampleembodiment of an ultrasonic waveguide for use with a medical instrumentand comprising first and second waveguide portions, where a firstwaveguide portion is joined to a second waveguide portion by a dowelpress fit.

FIG. 50 illustrates a schematic cross-sectional view of one exampleembodiment of an ultrasonic waveguide for use with a medical instrumentand comprising first and second waveguide portions, where the firstwaveguide portion is joined to the second waveguide portion by aball-and-socket type attachment.

FIG. 51 illustrates a schematic cross-sectional view of a portion ofanother embodiment of an ultrasonic medical instrument comprising amedical ultrasonic waveguide having a length and including a proximalwaveguide portion and a distal waveguide portion.

FIG. 52 illustrates one embodiment of an instrument mounting portion foruse with a robotic surgical system, such as the system of FIG. 19,comprising a magnetic element-driven control mechanism.

FIGS. 53A-G illustrate one embodiment of the rotatable body and magneticelements of the instrument mounting portion of FIG. 52, with therotatable body at various angular positions to energize and/orde-energize combinations of the magnetic elements.

FIG. 54 illustrates another embodiment of an instrument mounting portionfor use with a robotic surgical system, such as the system of FIG. 19,comprising a magnetic element-driven control mechanism.

FIG. 55 illustrates another embodiment of an instrument mounting portionfor use with a robotic surgical system, such as the system of FIG. 19,comprising a magnetic element-driven control mechanism and aspool-driven control mechanism.

FIGS. 56-57 illustrate one embodiment of an instrument mounting portionfor use with a robotic surgical system, such as the system of FIG. 19,comprising a translatable cable driven by a pair of rotatable bodies.

FIG. 58 illustrates another embodiment of an instrument mounting portionfor use with a robotic surgical system, such as the system of FIG. 19,comprising a translatable cable driven by a pair of rotatable bodies.

FIGS. 59-62 illustrate one embodiment of an articulation mechanism thatmay be utilized by manual and/or robotic surgical instruments toarticulate an end effector.

FIGS. 63A-B illustrate one embodiment of an articulation mechanism thatmay be utilized with any suitable control mechanism, including thosedescribed above with respect to FIGS. 52-58.

FIGS. 64-65 illustrate embodiments of the plate of the articulationmechanism of FIGS. 63A-B configured for use with three and four cables,respectively.

FIGS. 66-67 illustrate one embodiment of a shaft portion of a surgicalinstrument utilizing an articulation mechanism similar to the mechanismof FIGS. 63A-63B.

FIG. 68 illustrates one embodiment of a surgical instrument for use witha robotic surgical system, such as the system of FIG. 19, comprising atranslatable end effector.

FIG. 69A illustrates one embodiment of an articulatable shaft portionthat may be used in conjunction with a surgical instrument.

FIG. 69B illustrates an additional view of one embodiment of theflexible articulation portion of the shaft portion of FIG. 69A.

FIG. 70 illustrates one embodiment of a piece of flat stock with a pairof coil pipes welded thereto.

FIG. 71 illustrates one embodiment of the flat stock of FIG. 70 rolledinto a tube shape.

FIG. 72 illustrates one embodiment of an instrument mounting portionthat may be utilized to effect differential translation of the cables ofFIG. 70.

FIG. 73 illustrates one embodiment of an instrument mounting portioncomprising a battery assembly for powering the at least one energyelement.

FIG. 74 illustrates one embodiment of the instrument mounting portion ofFIG. 73 further comprising a generator circuit.

FIG. 75 illustrates one embodiment of an instrument mounting portionwith a cord-based generator circuit.

FIG. 76 illustrates one embodiment of an instrument mounting portioncomprising a removable battery assembly.

FIG. 77 illustrates one embodiment of a surgical system with a wirelessfoot pedal for actuating an energy element.

FIGS. 78-83 illustrate one embodiment of a passive articulationmechanism for use with a robotic surgical system and/or manual surgicalinstrument.

DESCRIPTION

Various embodiments are directed to surgical instruments, includingcontrol mechanisms for handheld instruments and/or instruments for usewith robotic surgical applications. The control mechanisms may beutilized to perform various actions with the surgical instrumentsincluding, for example, articulation of an end effector, actuation ofvarious mechanical and/or energy elements of the surgical instruments,etc. In some embodiments, control mechanisms are positioned within aninstrument mounting device for use with a robotic surgical system.

Reference will now be made in detail to several embodiments, includingembodiments showing example implementations of manual and roboticsurgical instruments with end effectors comprising ultrasonic and/orelectrosurgical elements. Wherever practicable similar or like referencenumbers may be used in the figures and may indicate similar or likefunctionality. The figures depict example embodiments of the disclosedsurgical instruments and/or methods of use for purposes of illustrationonly. One skilled in the art will readily recognize from the followingdescription that alternative example embodiments of the structures andmethods illustrated herein may be employed without departing from theprinciples described herein.

FIG. 1 is a right side view of one embodiment of an ultrasonic surgicalinstrument 10. In the illustrated embodiment, the ultrasonic surgicalinstrument 10 may be employed in various surgical procedures includingendoscopic or traditional open surgical procedures. In one exampleembodiment, the ultrasonic surgical instrument 10 comprises a handleassembly 12, an elongated shaft assembly 14, and an ultrasonictransducer 16. The handle assembly 12 comprises a trigger assembly 24, adistal rotation assembly 13, and a switch assembly 28. The elongatedshaft assembly 14 comprises an end effector assembly 26, which compriseselements to dissect tissue or mutually grasp, cut, and coagulate vesselsand/or tissue, and actuating elements to actuate the end effectorassembly 26. The handle assembly 12 is adapted to receive the ultrasonictransducer 16 at the proximal end. The ultrasonic transducer 16 ismechanically engaged to the elongated shaft assembly 14 and portions ofthe end effector assembly 26. The ultrasonic transducer 16 iselectrically coupled to a generator 20 via a cable 22. Although themajority of the drawings depict a multiple end effector assembly 26 foruse in connection with laparoscopic surgical procedures, the ultrasonicsurgical instrument 10 may be employed in more traditional open surgicalprocedures and in other embodiments, may be configured for use inendoscopic procedures. For the purposes herein, the ultrasonic surgicalinstrument 10 is described in terms of an endoscopic instrument;however, it is contemplated that an open and/or laparoscopic version ofthe ultrasonic surgical instrument 10 also may include the same orsimilar operating components and features as described herein.

In various embodiments, the generator 20 comprises several functionalelements, such as modules and/or blocks. Different functional elementsor modules may be configured for driving different kinds of surgicaldevices. For example, an ultrasonic generator module 21 may drive anultrasonic device, such as the ultrasonic surgical instrument 10. Insome example embodiments, the generator 20 also comprises anelectrosurgery/RF generator module 23 for driving an electrosurgicaldevice (or an electrosurgical embodiment of the ultrasonic surgicalinstrument 10). In various embodiments, the generator 20 may be formedintegrally within the handle assembly 12. In such implementations, abattery would be co-located within the handle assembly 12 to act as theenergy source. FIG. 18A and accompanying disclosures provide one exampleof such implementations.

In some embodiments, the eletrosurgery/RF generator module 23 may beconfigured to generate a therapeutic and/or a sub-therapeutic energylevel. In the example embodiment illustrated in FIG. 1, the generator 20includes a control system 25 integral with the generator 20, and a footswitch 29 connected to the generator via a cable 27. The generator 20may also comprise a triggering mechanism for activating a surgicalinstrument, such as the instrument 10. The triggering mechanism mayinclude a power switch (not shown) as well as a foot switch 29. Whenactivated by the foot switch 29, the generator 20 may provide energy todrive the acoustic assembly of the surgical instrument 10 and to drivethe end effector 18 at a predetermined excursion level. The generator 20drives or excites the acoustic assembly at any suitable resonantfrequency of the acoustic assembly and/or derives thetherapeutic/sub-therapeutic electromagnetic/RF energy.

In one embodiment, the electrosurgical/RF generator module 23 may beimplemented as an electrosurgery unit (ESU) capable of supplying powersufficient to perform bipolar electrosurgery using radio frequency (RF)energy. In one embodiment, the ESU can be a bipolar ERBE ICC 350 sold byERBE USA, Inc. of Marietta, Ga. In bipolar electrosurgery applications,as previously discussed, a surgical instrument having an activeelectrode and a return electrode can be utilized, wherein the activeelectrode and the return electrode can be positioned against, oradjacent to, the tissue to be treated such that current can flow fromthe active electrode to the return electrode through the tissue.Accordingly, the electrosurgical/RF module 23 generator may beconfigured for therapeutic purposes by applying electrical energy to thetissue T sufficient for treating the tissue (e.g., cauterization).

In one embodiment, the electrosurgical/RF generator module 23 may beconfigured to deliver a sub-therapeutic RF signal to implement a tissueimpedance measurement module. In one embodiment, the electrosurgical/RFgenerator module 23 comprises a bipolar radio frequency generator asdescribed in more detail below. In one embodiment, theelectrosurgical/RF generator module 12 may be configured to monitorelectrical impedance Z, of tissue T and to control the characteristicsof time and power level based on the tissue T by way of a returnelectrode on provided on a clamp member of the end effector assembly 26.Accordingly, the electrosurgical/RF generator module 23 may beconfigured for sub-therapeutic purposes for measuring the impedance orother electrical characteristics of the tissue T. Techniques and circuitconfigurations for measuring the impedance or other electricalcharacteristics of tissue T are discussed in more detail in commonlyassigned U.S. Patent Publication No. 2011/0015631, titled“Electrosurgical Generator for Ultrasonic Surgical Instruments,” thedisclosure of which is herein incorporated by reference in its entirety.

A suitable ultrasonic generator module 21 may be configured tofunctionally operate in a manner similar to the GEN300 sold by EthiconEndo-Surgery, Inc. of Cincinnati, Ohio as is disclosed in one or more ofthe following U.S. patents, all of which are incorporated by referenceherein: U.S. Pat. No. 6,480,796 (Method for Improving the Start Up of anUltrasonic System Under Zero Load Conditions); U.S. Pat. No. 6,537,291(Method for Detecting Blade Breakage Using Rate and/or ImpedanceInformation); U.S. Pat. No. 6,662,127 (Method for Detecting Presence ofa Blade in an Ultrasonic System); U.S. Pat. No. 6,679,899 (Method forDetecting Transverse Vibrations in an Ultrasonic Hand Piece); U.S. Pat.No. 6,977,495 (Detection Circuitry for Surgical Handpiece System); U.S.Pat. No. 7,077,853 (Method for Calculating Transducer Capacitance toDetermine Transducer Temperature); U.S. Pat. No. 7,179,271 (Method forDriving an Ultrasonic System to Improve Acquisition of Blade ResonanceFrequency at Startup); and U.S. Pat. No. 7,273,483 (Apparatus and Methodfor Alerting Generator Function in an Ultrasonic Surgical System).

It will be appreciated that in various embodiments, the generator 20 maybe configured to operate in several modes. In one mode, the generator 20may be configured such that the ultrasonic generator module 21 and theelectrosurgical/RF generator module 23 may be operated independently.

For example, the ultrasonic generator module 21 may be activated toapply ultrasonic energy to the end effector assembly 26 andsubsequently, either therapeutic sub-therapeutic RF energy may beapplied to the end effector assembly 26 by the electrosurgical/RFgenerator module 23. As previously discussed, the subtherapeuticelectrosurgical/RF energy may be applied to tissue clamped between claimelements of the end effector assembly 26 to measure tissue impedance tocontrol the activation, or modify the activation, of the ultrasonicgenerator module 21. Tissue impedance feedback from the application ofthe subtherapeutic energy also may be employed to activate a therapeuticlevel of the electrosurgical/RF generator module 23 to seal the tissue(e.g., vessel) clamped between claim elements of the end effectorassembly 26.

In another embodiment, the ultrasonic generator module 21 and theelectrosurgical/RF generator module 23 may be activated simultaneously.In one example, the ultrasonic generator module 21 is simultaneouslyactivated with a sub-therapeutic RF energy level to measure tissueimpedance simultaneously while the ultrasonic blade of the end effectorassembly 26 cuts and coagulates the tissue (or vessel) clamped betweenthe clamp elements of the end effector assembly 26. Such feedback may beemployed, for example, to modify the drive output of the ultrasonicgenerator module 21. In another example, the ultrasonic generator module21 may be driven simultaneously with electrosurgical/RF generator module23 such that the ultrasonic blade portion of the end effector assembly26 is employed for cutting the damaged tissue while theelectrosurgical/RF energy is applied to electrode portions of the endeffector clamp assembly 26 for sealing the tissue (or vessel).

When the generator 20 is activated via the triggering mechanism, in oneembodiment electrical energy is continuously applied by the generator 20to a transducer stack or assembly of the acoustic assembly. In anotherembodiment, electrical energy is intermittently applied (e.g., pulsed)by the generator 20. A phase-locked loop in the control system of thegenerator 20 may monitor feedback from the acoustic assembly. The phaselock loop adjusts the frequency of the electrical energy sent by thegenerator 20 to match the resonant frequency of the selectedlongitudinal mode of vibration of the acoustic assembly. In addition, asecond feedback loop in the control system 25 maintains the electricalcurrent supplied to the acoustic assembly at a pre-selected constantlevel in order to achieve substantially constant excursion at the endeffector 18 of the acoustic assembly. In yet another embodiment, a thirdfeedback loop in the control system 25 monitors impedance betweenelectrodes located in the end effector assembly 26. Although FIGS. 1-9show a manually operated ultrasonic surgical instrument, it will beappreciated that ultrasonic surgical instruments may also be used inrobotic applications, for example, as described herein, as well ascombinations of manual and robotic applications.

In ultrasonic operation mode, the electrical signal supplied to theacoustic assembly may cause the distal end of the end effector 18, tovibrate longitudinally in the range of, for example, approximately 20kHz to 250 kHz. According to various embodiments, the blade 22 mayvibrate in the range of about 54 kHz to 56 kHz, for example, at about55.5 kHz. In other embodiments, the blade 22 may vibrate at otherfrequencies including, for example, about 31 kHz or about 80 kHz. Theexcursion of the vibrations at the blade can be controlled by, forexample, controlling the amplitude of the electrical signal applied tothe transducer assembly of the acoustic assembly by the generator 20. Asnoted above, the triggering mechanism of the generator 20 allows a userto activate the generator 20 so that electrical energy may becontinuously or intermittently supplied to the acoustic assembly. Thegenerator 20 also has a power line for insertion in an electro-surgicalunit or conventional electrical outlet. It is contemplated that thegenerator 20 can also be powered by a direct current (DC) source, suchas a battery. The generator 20 can comprise any suitable generator, suchas Model No. GEN04, and/or Model No. GEN11 available from EthiconEndo-Surgery, Inc.

FIG. 2 is a left perspective view of one example embodiment of theultrasonic surgical instrument 10 showing the handle assembly 12, thedistal rotation assembly 13, the elongated shaft assembly 14, and theend effector assembly 26. In the illustrated embodiment the elongatedshaft assembly 14 comprises a distal end 52 dimensioned to mechanicallyengage the end effector assembly 26 and a proximal end 50 thatmechanically engages the handle assembly 12 and the distal rotationassembly 13. The proximal end 50 of the elongated shaft assembly 14 isreceived within the handle assembly 12 and the distal rotation assembly13. More details relating to the connections between the elongated shaftassembly 14, the handle assembly 12, and the distal rotation assembly 13are provided in the description of FIGS. 5 and 7.

In the illustrated embodiment, the trigger assembly 24 comprises atrigger 32 that operates in conjunction with a fixed handle 34. Thefixed handle 34 and the trigger 32 are ergonomically formed and adaptedto interface comfortably with the user. The fixed handle 34 isintegrally associated with the handle assembly 12. The trigger 32 ispivotally movable relative to the fixed handle 34 as explained in moredetail below with respect to the operation of the ultrasonic surgicalinstrument 10. The trigger 32 is pivotally movable in direction 33Atoward the fixed handle 34 when the user applies a squeezing forceagainst the trigger 32. A spring element 98 (FIG. 5) causes the trigger32 to pivotally move in direction 33B when the user releases thesqueezing force against the trigger 32.

In one example embodiment, the trigger 32 comprises an elongated triggerhook 36, which defines an aperture 38 between the elongated trigger hook36 and the trigger 32. The aperture 38 is suitably sized to receive oneor multiple fingers of the user therethrough. The trigger 32 also maycomprise a resilient portion 32 a molded over the trigger 32 substrate.The overmolded resilient portion 32 a is formed to provide a morecomfortable contact surface for control of the trigger 32 in outwarddirection 33B. In one example embodiment, the overmolded resilientportion 32 a may be provided over a portion of the elongated triggerhook 36. The proximal surface of the elongated trigger hook 32 remainsuncoated or coated with a non-resilient substrate to enable the user toeasily slide their fingers in and out of the aperture 38. In anotherembodiment, the geometry of the trigger forms a fully closed loop whichdefines an aperture suitably sized to receive one or multiple fingers ofthe user therethrough. The fully closed loop trigger also may comprise aresilient portion molded over the trigger substrate.

In one example embodiment, the fixed handle 34 comprises a proximalcontact surface 40 and a grip anchor or saddle surface 42. The saddlesurface 42 rests on the web where the thumb and the index finger arejoined on the hand. The proximal contact surface 40 has a pistol gripcontour that receives the palm of the hand in a normal pistol grip withno rings or apertures. The profile curve of the proximal contact surface40 may be contoured to accommodate or receive the palm of the hand. Astabilization tail 44 is located towards a more proximal portion of thehandle assembly 12. The stabilization tail 44 may be in contact with theuppermost web portion of the hand located between the thumb and theindex finger to stabilize the handle assembly 12 and make the handleassembly 12 more controllable.

In one example embodiment, the switch assembly 28 may comprise a toggleswitch 30. The toggle switch 30 may be implemented as a single componentwith a central pivot 304 located within inside the handle assembly 12 toeliminate the possibility of simultaneous activation. In one exampleembodiment, the toggle switch 30 comprises a first projecting knob 30 aand a second projecting knob 30 b to set the power setting of theultrasonic transducer 16 between a minimum power level (e.g., MIN) and amaximum power level (e.g., MAX). In another embodiment, the rockerswitch may pivot between a standard setting and a special setting. Thespecial setting may allow one or more special programs to be implementedby the device. The toggle switch 30 rotates about the central pivot asthe first projecting knob 30 a and the second projecting knob 30 b areactuated. The one or more projecting knobs 30 a, 30 b are coupled to oneor more arms that move through a small arc and cause electrical contactsto close or open an electric circuit to electrically energize orde-energize the ultrasonic transducer 16 in accordance with theactivation of the first or second projecting knobs 30 a, 30 b. Thetoggle switch 30 is coupled to the generator 20 to control theactivation of the ultrasonic transducer 16. The toggle switch 30comprises one or more electrical power setting switches to activate theultrasonic transducer 16 to set one or more power settings for theultrasonic transducer 16. The forces required to activate the toggleswitch 30 are directed substantially toward the saddle point 42, thusavoiding any tendency of the instrument to rotate in the hand when thetoggle switch 30 is activated.

In one example embodiment, the first and second projecting knobs 30 a,30 b are located on the distal end of the handle assembly 12 such thatthey can be easily accessible by the user to activate the power withminimal, or substantially no, repositioning of the hand grip, making itsuitable to maintain control and keep attention focused on the surgicalsite (e.g., a monitor in a laparoscopic procedure) while activating thetoggle switch 30. The projecting knobs 30 a, 30 b may be configured towrap around the side of the handle assembly 12 to some extent to be moreeasily accessible by variable finger lengths and to allow greaterfreedom of access to activation in awkward positions or for shorterfingers.

In the illustrated embodiment, the first projecting knob 30 a comprisesa plurality of tactile elements 30 c, e.g., textured projections or“bumps” in the illustrated embodiment, to allow the user todifferentiate the first projecting knob 30 a from the second projectingknob 30 b. It will be appreciated by those skilled in the art thatseveral ergonomic features may be incorporated into the handle assembly12. Such ergonomic features are described in U.S. Pat. App. Pub. No.2009/0105750 entitled “Ergonomic Surgical Instruments” which isincorporated by reference herein in its entirety.

In one example embodiment, the toggle switch 30 may be operated by thehand of the user. The user may easily access the first and secondprojecting knobs 30 a, 30 b at any point while also avoiding inadvertentor unintentional activation at any time. The toggle switch 30 mayreadily operated with a finger to control the power to the ultrasonicassembly 16 and/or to the ultrasonic assembly 16. For example, the indexfinger may be employed to activate the first contact portion 30 a toturn on the ultrasonic assembly 16 to a maximum (MAX) power level. Theindex finger may be employed to activate the second contact portion 30 bto turn on the ultrasonic assembly 16 to a minimum (MIN) power level. Inanother embodiment, the rocker switch may pivot the instrument 10between a standard setting and a special setting. The special settingmay allow one or more special programs to be implemented by theinstrument 10. The toggle switch 30 may be operated without the userhaving to look at the first or second projecting knob 30 a, 30 b. Forexample, the first projecting knob 30 a or the second projecting knob 30b may comprise a texture or projections to tactilely differentiatebetween the first and second projecting knobs 30 a, 30 b withoutlooking.

In other embodiments, the trigger 32 and/or the toggle switch 30 may beemployed to actuate the electrosurgical/RF generator module 23individually or in combination with activation of the ultrasonicgenerator module 21.

In one example embodiment, the distal rotation assembly 13 is rotatablewithout limitation in either direction about a longitudinal axis “T.”The distal rotation assembly 13 is mechanically engaged to the elongatedshaft assembly 14. The distal rotation assembly 13 is located on adistal end of the handle assembly 12. The distal rotation assembly 13comprises a cylindrical hub 46 and a rotation knob 48 formed over thehub 46. The hub 46 mechanically engages the elongated shaft assembly 14.The rotation knob 48 may comprise fluted polymeric features and may beengaged by a finger (e.g., an index finger) to rotate the elongatedshaft assembly 14. The hub 46 may comprise a material molded over theprimary structure to form the rotation knob 48. The rotation knob 48 maybe overmolded over the hub 46. The hub 46 comprises an end cap portion46 a that is exposed at the distal end. The end cap portion 46 a of thehub 46 may contact the surface of a trocar during laparoscopicprocedures. The hub 46 may be formed of a hard durable plastic such aspolycarbonate to alleviate any friction that may occur between the endcap portion 46 a and the trocar. The rotation knob 48 may comprise“scallops” or flutes formed of raised ribs 48 a and concave portions 48b located between the ribs 48 a to provide a more precise rotationalgrip. In one example embodiment, the rotation knob 48 may comprise aplurality of flutes (e.g., three or more flutes). In other embodiments,any suitable number of flutes may be employed. The rotation knob 48 maybe formed of a softer polymeric material overmolded onto the hardplastic material. For example, the rotation knob 48 may be formed ofpliable, resilient, flexible polymeric materials including Versaflex®TPE alloys made by GLS Corporation, for example. This softer overmoldedmaterial may provide a greater grip and more precise control of themovement of the rotation knob 48. It will be appreciated that anymaterials that provide adequate resistance to sterilization, arebiocompatible, and provide adequate frictional resistance to surgicalgloves may be employed to form the rotation knob 48.

In one example embodiment, the handle assembly 12 is formed from two (2)housing portions or shrouds comprising a first portion 12 a and a secondportion 12 b. From the perspective of a user viewing the handle assembly12 from the distal end towards the proximal end, the first portion 12 ais considered the right portion and the second portion 12 b isconsidered the left portion. Each of the first and second portions 12 a,12 b includes a plurality of interfaces 69 (FIG. 5) dimensioned tomechanically align and engage each another to form the handle assembly12 and enclosing the internal working components thereof. The fixedhandle 34, which is integrally associated with the handle assembly 12,takes shape upon the assembly of the first and second portions 12 a and12 b of the handle assembly 12. A plurality of additional interfaces(not shown) may be disposed at various points around the periphery ofthe first and second portions 12 a and 12 b of the handle assembly 12for ultrasonic welding purposes, e.g., energy direction/deflectionpoints. The first and second portions 12 a and 12 b (as well as theother components described below) may be assembled together in anyfashion known in the art. For example, alignment pins, snap-likeinterfaces, tongue and groove interfaces, locking tabs, adhesive ports,may all be utilized either alone or in combination for assemblypurposes.

In one example embodiment, the elongated shaft assembly 14 comprises aproximal end 50 adapted to mechanically engage the handle assembly 12and the distal rotation assembly 13; and a distal end 52 adapted tomechanically engage the end effector assembly 26. The elongated shaftassembly 14 comprises an outer tubular sheath 56 and a reciprocatingtubular actuating member 58 located within the outer tubular sheath 56.The proximal end of the tubular reciprocating tubular actuating member58 is mechanically engaged to the trigger 32 of the handle assembly 12to move in either direction 60A or 60B in response to the actuationand/or release of the trigger 32. The pivotably moveable trigger 32 maygenerate reciprocating motion along the longitudinal axis “T.” Suchmotion may be used, for example, to actuate the jaws or clampingmechanism of the end effector assembly 26. A series of linkagestranslate the pivotal rotation of the trigger 32 to axial movement of ayoke coupled to an actuation mechanism, which controls the opening andclosing of the jaws of the clamping mechanism of the end effectorassembly 26. The distal end of the tubular reciprocating tubularactuating member 58 is mechanically engaged to the end effector assembly26. In the illustrated embodiment, the distal end of the tubularreciprocating tubular actuating member 58 is mechanically engaged to aclamp arm assembly 64, which is pivotable about a pivot point 70, toopen and close the clamp arm assembly 64 in response to the actuationand/or release of the trigger 32. For example, in the illustratedembodiment, the clamp arm assembly 64 is movable in direction 62A froman open position to a closed position about a pivot point 70 when thetrigger 32 is squeezed in direction 33A. The clamp arm assembly 64 ismovable in direction 62B from a closed position to an open positionabout the pivot point 70 when the trigger 32 is released or outwardlycontacted in direction 33B.

In one example embodiment, the end effector assembly 26 is attached atthe distal end 52 of the elongated shaft assembly 14 and includes aclamp arm assembly 64 and a blade 66. The jaws of the clamping mechanismof the end effector assembly 26 are formed by clamp arm assembly 64 andthe blade 66. The blade 66 is ultrasonically actuatable and isacoustically coupled to the ultrasonic transducer 16. The trigger 32 onthe handle assembly 12 is ultimately connected to a drive assembly,which together, mechanically cooperate to effect movement of the clamparm assembly 64. Squeezing the trigger 32 in direction 33A moves theclamp arm assembly 64 in direction 62A from an open position, whereinthe clamp arm assembly 64 and the blade 66 are disposed in a spacedrelation relative to one another, to a clamped or closed position,wherein the clamp arm assembly 64 and the blade 66 cooperate to grasptissue therebetween. The clamp arm assembly 64 may comprise a clamp pad69 to engage tissue between the blade 66 and the clamp arm 64. Releasingthe trigger 32 in direction 33B moves the clamp arm assembly 64 indirection 62B from a closed relationship, to an open position, whereinthe clamp arm assembly 64 and the blade 66 are disposed in a spacedrelation relative to one another.

The proximal portion of the handle assembly 12 comprises a proximalopening 68 to receive the distal end of the ultrasonic assembly 16. Theultrasonic assembly 16 is inserted in the proximal opening 68 and ismechanically engaged to the elongated shaft assembly 14.

In one example embodiment, the elongated trigger hook 36 portion of thetrigger 32 provides a longer trigger lever with a shorter span androtation travel. The longer lever of the elongated trigger hook 36allows the user to employ multiple fingers within the aperture 38 tooperate the elongated trigger hook 36 and cause the trigger 32 to pivotin direction 33B to open the jaws of the end effector assembly 26. Forexample, the user may insert three fingers (e.g., the middle, ring, andlittle fingers) in the aperture 38. Multiple fingers allows the surgeonto exert higher input forces on the trigger 32 and the elongated triggerhook 36 to activate the end effector assembly 26. The shorter span androtation travel creates a more comfortable grip when closing orsqueezing the trigger 32 in direction 33A or when opening the trigger 32in the outward opening motion in direction 33B lessening the need toextend the fingers further outward. This substantially lessens handfatigue and strain associated with the outward opening motion of thetrigger 32 in direction 33B. The outward opening motion of the triggermay be spring-assisted by spring element 98 (FIG. 5) to help alleviatefatigue. The opening spring force is sufficient to assist the ease ofopening, but not strong enough to adversely impact the tactile feedbackof tissue tension during spreading dissection.

For example, during a surgical procedure either the index finger may beused to control the rotation of the elongated shaft assembly 14 tolocate the jaws of the end effector assembly 26 in a suitableorientation. The middle and/or the other lower fingers may be used tosqueeze the trigger 32 and grasp tissue within the jaws. Once the jawsare located in the desired position and the jaws are clamped against thetissue, the index finger can be used to activate the toggle switch 30 toadjust the power level of the ultrasonic transducer 16 to treat thetissue. Once the tissue has been treated, the user the may release thetrigger 32 by pushing outwardly in the distal direction against theelongated trigger hook 36 with the middle and/or lower fingers to openthe jaws of the end effector assembly 26. This basic procedure may beperformed without the user having to adjust their grip of the handleassembly 12.

FIGS. 3-4 illustrate the connection of the elongated shaft assembly 14relative to the end effector assembly 26. As previously described, inthe illustrated embodiment, the end effector assembly 26 comprises aclamp arm assembly 64 and a blade 66 to form the jaws of the clampingmechanism. The blade 66 may be an ultrasonically actuatable bladeacoustically coupled to the ultrasonic transducer 16. The trigger 32 ismechanically connected to a drive assembly. Together, the trigger 32 andthe drive assembly mechanically cooperate to move the clamp arm assembly64 to an open position in direction 62A wherein the clamp arm assembly64 and the blade 66 are disposed in spaced relation relative to oneanother, to a clamped or closed position in direction 62B wherein theclamp arm assembly 64 and the blade 66 cooperate to grasp tissuetherebetween. The clamp arm assembly 64 may comprise a clamp pad 69 toengage tissue between the blade 66 and the clamp arm 64. The distal endof the tubular reciprocating tubular actuating member 58 is mechanicallyengaged to the end effector assembly 26. In the illustrated embodiment,the distal end of the tubular reciprocating tubular actuating member 58is mechanically engaged to the clamp arm assembly 64, which is pivotableabout the pivot point 70, to open and close the clamp arm assembly 64 inresponse to the actuation and/or release of the trigger 32. For example,in the illustrated embodiment, the clamp arm assembly 64 is movable froman open position to a closed position in direction 62B about a pivotpoint 70 when the trigger 32 is squeezed in direction 33A. The clamp armassembly 64 is movable from a closed position to an open position indirection 62A about the pivot point 70 when the trigger 32 is releasedor outwardly contacted in direction 33B.

As previously discussed, the clamp arm assembly 64 may compriseelectrodes electrically coupled to the electrosurgical/RF generatormodule 23 to receive therapeutic and/or sub-therapeutic energy, wherethe electrosurgical/RF energy may be applied to the electrodes eithersimultaneously or non-simultaneously with the ultrasonic energy beingapplied to the blade 66. Such energy activations may be applied in anysuitable combinations to achieve a desired tissue effect in cooperationwith an algorithm or other control logic.

FIG. 5 is an exploded view of the ultrasonic surgical instrument 10shown in FIG. 2. In the illustrated embodiment, the exploded view showsthe internal elements of the handle assembly 12, the handle assembly 12,the distal rotation assembly 13, the switch assembly 28, and theelongated shaft assembly 14. In the illustrated embodiment, the firstand second portions 12 a, 12 b mate to form the handle assembly 12. Thefirst and second portions 12 a, 12 b each comprises a plurality ofinterfaces 69 dimensioned to mechanically align and engage one anotherto form the handle assembly 12 and enclose the internal workingcomponents of the ultrasonic surgical instrument 10. The rotation knob48 is mechanically engaged to the outer tubular sheath 56 so that it maybe rotated in circular direction 54 up to 360°. The outer tubular sheath56 is located over the reciprocating tubular actuating member 58, whichis mechanically engaged to and retained within the handle assembly 12via a plurality of coupling elements 72. The coupling elements 72 maycomprise an O-ring 72 a, a tube collar cap 72 b, a distal washer 72 c, aproximal washer 72 d, and a thread tube collar 72 e. The reciprocatingtubular actuating member 58 is located within a reciprocating yoke 84,which is retained between the first and second portions 12 a, 12 b ofthe handle assembly 12. The yoke 84 is part of a reciprocating yokeassembly 88. A series of linkages translate the pivotal rotation of theelongated trigger hook 32 to the axial movement of the reciprocatingyoke 84, which controls the opening and closing of the jaws of theclamping mechanism of the end effector assembly 26 at the distal end ofthe ultrasonic surgical instrument 10. In one example embodiment, afour-link design provides mechanical advantage in a relatively shortrotation span, for example.

In one example embodiment, an ultrasonic transmission waveguide 78 isdisposed inside the reciprocating tubular actuating member 58. Thedistal end 52 of the ultrasonic transmission waveguide 78 isacoustically coupled (e.g., directly or indirectly mechanically coupled)to the blade 66 and the proximal end 50 of the ultrasonic transmissionwaveguide 78 is received within the handle assembly 12. The proximal end50 of the ultrasonic transmission waveguide 78 is adapted toacoustically couple to the distal end of the ultrasonic transducer 16 asdiscussed in more detail below. The ultrasonic transmission waveguide 78is isolated from the other elements of the elongated shaft assembly 14by a protective sheath 80 and a plurality of isolation elements 82, suchas silicone rings. The outer tubular sheath 56, the reciprocatingtubular actuating member 58, and the ultrasonic transmission waveguide78 are mechanically engaged by a pin 74. The switch assembly 28comprises the toggle switch 30 and electrical elements 86 a,b toelectrically energize the ultrasonic transducer 16 in accordance withthe activation of the first or second projecting knobs 30 a, 30 b.

In one example embodiment, the outer tubular sheath 56 isolates the useror the patient from the ultrasonic vibrations of the ultrasonictransmission waveguide 78. The outer tubular sheath 56 generallyincludes a hub 76. The outer tubular sheath 56 is threaded onto thedistal end of the handle assembly 12. The ultrasonic transmissionwaveguide 78 extends through the opening of the outer tubular sheath 56and the isolation elements 82 isolate the ultrasonic transmissionwaveguide 24 from the outer tubular sheath 56. The outer tubular sheath56 may be attached to the waveguide 78 with the pin 74. The hole toreceive the pin 74 in the waveguide 78 may occur nominally at adisplacement node. The waveguide 78 may screw or snap into the handpiece handle assembly 12 by a stud. Flat portions on the hub 76 mayallow the assembly to be torqued to a required level. In one exampleembodiment, the hub 76 portion of the outer tubular sheath 56 ispreferably constructed from plastic and the tubular elongated portion ofthe outer tubular sheath 56 is fabricated from stainless steel.Alternatively, the ultrasonic transmission waveguide 78 may comprisepolymeric material surrounding it to isolate it from outside contact.

In one example embodiment, the distal end of the ultrasonic transmissionwaveguide 78 may be coupled to the proximal end of the blade 66 by aninternal threaded connection, preferably at or near an antinode. It iscontemplated that the blade 66 may be attached to the ultrasonictransmission waveguide 78 by any suitable means, such as a welded jointor the like. Although the blade 66 may be detachable from the ultrasonictransmission waveguide 78, it is also contemplated that the singleelement end effector (e.g., the blade 66) and the ultrasonictransmission waveguide 78 may be formed as a single unitary piece.

In one example embodiment, the trigger 32 is coupled to a linkagemechanism to translate the rotational motion of the trigger 32 indirections 33A and 33B to the linear motion of the reciprocating tubularactuating member 58 in corresponding directions 60A and 60B. The trigger32 comprises a first set of flanges 98 with openings formed therein toreceive a first yoke pin 92 a. The first yoke pin 92 a is also locatedthrough a set of openings formed at the distal end of the yoke 84. Thetrigger 32 also comprises a second set of flanges 96 to receive a firstend 92 a of a link 92. A trigger pin 90 is received in openings formedin the link 92 and the second set of flanges 96. The trigger pin 90 isreceived in the openings formed in the link 92 and the second set offlanges 96 and is adapted to couple to the first and second portions 12a, 12 b of the handle assembly 12 to form a trigger pivot point for thetrigger 32. A second end 92 b of the link 92 is received in a slot 384formed in a proximal end of the yoke 84 and is retained therein by asecond yoke pin 94 b. As the trigger 32 is pivotally rotated about thepivot point 190 formed by the trigger pin 90, the yoke translateshorizontally along longitudinal axis “T” in a direction indicated byarrows 60A,B.

FIG. 8 illustrates one example embodiment of an ultrasonic surgicalinstrument 10. In the illustrated embodiment, a cross-sectional view ofthe ultrasonic transducer 16 is shown within a partial cutaway view ofthe handle assembly 12. One example embodiment of the ultrasonicsurgical instrument 10 comprises the ultrasonic signal generator 20coupled to the ultrasonic transducer 16, comprising a hand piece housing99, and an ultrasonically actuatable single or multiple element endeffector assembly 26. As previously discussed, the end effector assembly26 comprises the ultrasonically actuatable blade 66 and the clamp arm64. The ultrasonic transducer 16, which is known as a “Langevin stack”,generally includes a transduction portion 100, a first resonator portionor end-bell 102, and a second resonator portion or fore-bell 104, andancillary components. The total construction of these components is aresonator. The ultrasonic transducer 16 is preferably an integral numberof one-half system wavelengths (nλ/2; where “n” is any positive integer;e.g., n=1, 2, 3 . . . ) in length as will be described in more detaillater. An acoustic assembly 106 includes the ultrasonic transducer 16, anose cone 108, a velocity transformer 118, and a surface 110.

In one example embodiment, the distal end of the end-bell 102 isconnected to the proximal end of the transduction portion 100, and theproximal end of the fore-bell 104 is connected to the distal end of thetransduction portion 100. The fore-bell 104 and the end-bell 102 have alength determined by a number of variables, including the thickness ofthe transduction portion 100, the density and modulus of elasticity ofthe material used to manufacture the end-bell 102 and the fore-bell 22,and the resonant frequency of the ultrasonic transducer 16. Thefore-bell 104 may be tapered inwardly from its proximal end to itsdistal end to amplify the ultrasonic vibration amplitude as the velocitytransformer 118, or alternately may have no amplification. A suitablevibrational frequency range may be about 20 Hz to 32 kHz and awell-suited vibrational frequency range may be about 30-10 kHz. Asuitable operational vibrational frequency may be approximately 55.5kHz, for example.

In one example embodiment, the piezoelectric elements 112 may befabricated from any suitable material, such as, for example, leadzirconate-titanate, lead meta-niobate, lead titanate, barium titanate,or other piezoelectric ceramic material. Each of positive electrodes114, negative electrodes 116, and the piezoelectric elements 112 has abore extending through the center. The positive and negative electrodes114 and 116 are electrically coupled to wires 120 and 122, respectively.The wires 120 and 122 are encased within the cable 22 and electricallyconnectable to the ultrasonic signal generator 20.

The ultrasonic transducer 16 of the acoustic assembly 106 converts theelectrical signal from the ultrasonic signal generator 20 intomechanical energy that results in primarily a standing acoustic wave oflongitudinal vibratory motion of the ultrasonic transducer 16 and theblade 66 portion of the end effector assembly 26 at ultrasonicfrequencies. In another embodiment, the vibratory motion of theultrasonic transducer may act in a different direction. For example, thevibratory motion may comprise a local longitudinal component of a morecomplicated motion of the tip of the elongated shaft assembly 14. Asuitable generator is available as model number GEN11, from EthiconEndo-Surgery, Inc., Cincinnati, Ohio. When the acoustic assembly 106 isenergized, a vibratory motion standing wave is generated through theacoustic assembly 106. The ultrasonic surgical instrument 10 is designedto operate at a resonance such that an acoustic standing wave pattern ofpredetermined amplitude is produced. The amplitude of the vibratorymotion at any point along the acoustic assembly 106 depends upon thelocation along the acoustic assembly 106 at which the vibratory motionis measured. A minimum or zero crossing in the vibratory motion standingwave is generally referred to as a node (i.e., where motion is minimal),and a local absolute value maximum or peak in the standing wave isgenerally referred to as an anti-node (e.g., where local motion ismaximal). The distance between an anti-node and its nearest node isone-quarter wavelength (λ/4).

The wires 120 and 122 transmit an electrical signal from the ultrasonicsignal generator 20 to the positive electrodes 114 and the negativeelectrodes 116. The piezoelectric elements 112 are energized by theelectrical signal supplied from the ultrasonic signal generator 20 inresponse to an actuator 224, such as a foot switch, for example, toproduce an acoustic standing wave in the acoustic assembly 106. Theelectrical signal causes disturbances in the piezoelectric elements 112in the form of repeated small displacements resulting in largealternating compression and tension forces within the material. Therepeated small displacements cause the piezoelectric elements 112 toexpand and contract in a continuous manner along the axis of the voltagegradient, producing longitudinal waves of ultrasonic energy. Theultrasonic energy is transmitted through the acoustic assembly 106 tothe blade 66 portion of the end effector assembly 26 via a transmissioncomponent or an ultrasonic transmission waveguide portion 78 of theelongated shaft assembly 14.

In one example embodiment, in order for the acoustic assembly 106 todeliver energy to the blade 66 portion of the end effector assembly 26,all components of the acoustic assembly 106 must be acoustically coupledto the blade 66. The distal end of the ultrasonic transducer 16 may beacoustically coupled at the surface 110 to the proximal end of theultrasonic transmission waveguide 78 by a threaded connection such as astud 124.

In one example embodiment, the components of the acoustic assembly 106are preferably acoustically tuned such that the length of any assemblyis an integral number of one-half wavelengths (nλ/2), where thewavelength λ is the wavelength of a pre-selected or operatinglongitudinal vibration drive frequency f_(d) of the acoustic assembly106. It is also contemplated that the acoustic assembly 106 mayincorporate any suitable arrangement of acoustic elements.

In one example embodiment, the blade 66 may have a length substantiallyequal to an integral multiple of one-half system wavelengths (nλ/2). Adistal end of the blade 66 may be disposed near an antinode in order toprovide the maximum longitudinal excursion of the distal end. When thetransducer assembly is energized, the distal end of the blade 66 may beconfigured to move in the range of, for example, approximately 10 to 500microns peak-to-peak, and preferably in the range of about 30 to 64microns at a predetermined vibrational frequency of 55 kHz, for example.

In one example embodiment, the blade 66 may be coupled to the ultrasonictransmission waveguide 78. The blade 66 and the ultrasonic transmissionwaveguide 78 as illustrated are formed as a single unit constructionfrom a material suitable for transmission of ultrasonic energy. Examplesof such materials include Ti6Al4V (an alloy of Titanium includingAluminum and Vanadium), Aluminum, Stainless Steel, or other suitablematerials. Alternately, the blade 66 may be separable (and of differingcomposition) from the ultrasonic transmission waveguide 78, and coupledby, for example, a stud, weld, glue, quick connect, or other suitableknown methods. The length of the ultrasonic transmission waveguide 78may be substantially equal to an integral number of one-half wavelengths(nλ/2), for example. The ultrasonic transmission waveguide 78 may bepreferably fabricated from a solid core shaft constructed out ofmaterial suitable to propagate ultrasonic energy efficiently, such asthe titanium alloy discussed above (i.e., Ti6Al4V) or any suitablealuminum alloy, or other alloys, for example.

In one example embodiment, the ultrasonic transmission waveguide 78comprises a longitudinally projecting attachment post at a proximal endto couple to the surface 110 of the ultrasonic transmission waveguide 78by a threaded connection such as the stud 124. The ultrasonictransmission waveguide 78 may include a plurality of stabilizingsilicone rings or compliant supports 82 (FIG. 5) positioned at aplurality of nodes. The silicone rings 82 dampen undesirable vibrationand isolate the ultrasonic energy from an outer protective sheath 80(FIG. 5) assuring the flow of ultrasonic energy in a longitudinaldirection to the distal end of the blade 66 with maximum efficiency.

FIG. 9 illustrates one example embodiment of the proximal rotationassembly 128. In the illustrated embodiment, the proximal rotationassembly 128 comprises the proximal rotation knob 134 inserted over thecylindrical hub 135. The proximal rotation knob 134 comprises aplurality of radial projections 138 that are received in correspondingslots 130 formed on a proximal end of the cylindrical hub 135. Theproximal rotation knob 134 defines an opening 142 to receive the distalend of the ultrasonic transducer 16. The radial projections 138 areformed of a soft polymeric material and define a diameter that isundersized relative to the outside diameter of the ultrasonic transducer16 to create a friction interference fit when the distal end of theultrasonic transducer 16. The polymeric radial projections 138 protruderadially into the opening 142 to form “gripper” ribs that firmly gripthe exterior housing of the ultrasonic transducer 16. Therefore, theproximal rotation knob 134 securely grips the ultrasonic transducer 16.

The distal end of the cylindrical hub 135 comprises a circumferentiallip 132 and a circumferential bearing surface 140. The circumferentiallip engages a groove formed in the housing 12 and the circumferentialbearing surface 140 engages the housing 12. Thus, the cylindrical hub135 is mechanically retained within the two housing portions (not shown)of the housing 12. The circumferential lip 132 of the cylindrical hub135 is located or “trapped” between the first and second housingportions 12 a, 12 b and is free to rotate in place within the groove.The circumferential bearing surface 140 bears against interior portionsof the housing to assist proper rotation. Thus, the cylindrical hub 135is free to rotate in place within the housing. The user engages theflutes 136 formed on the proximal rotation knob 134 with either thefinger or the thumb to rotate the cylindrical hub 135 within the housing12.

In one example embodiment, the cylindrical hub 135 may be formed of adurable plastic such as polycarbonate. In one example embodiment, thecylindrical hub 135 may be formed of a siliconized polycarbonatematerial. In one example embodiment, the proximal rotation knob 134 maybe formed of pliable, resilient, flexible polymeric materials includingVersaflex® TPE alloys made by GLS Corporation, for example. The proximalrotation knob 134 may be formed of elastomeric materials, thermoplasticrubber known as Santoprene®, other thermoplastic vulcanizates (TPVs), orelastomers, for example. The embodiments, however, are not limited inthis context.

FIG. 10 illustrates one example embodiment of a surgical system 200including a surgical instrument 210 having single element end effector278. The system 200 may include a transducer assembly 216 coupled to theend effector 278 and a sheath 256 positioned around the proximalportions of the end effector 278 as shown. The transducer assembly 216and end effector 278 may operate in a manner similar to that of thetransducer assembly 16 and end effector 18 described above to produceultrasonic energy that may be transmitted to tissue via blade 226′

FIGS. 11-18C illustrate various embodiments of surgical instruments thatutilize therapeutic and/or subtherapeutic electrical energy to treatand/or destroy tissue or provide feedback to the generators (e.g.,electrosurgical instruments). The embodiments of FIGS. 11-18C areadapted for use in a manual or hand-operated manner, althoughelectrosurgical instruments may be utilized in robotic applications aswell. FIG. 11 is a perspective view of one example embodiment of asurgical instrument system 300 comprising an electrical energy surgicalinstrument 310. The electrosurgical instrument 310 may comprise aproximal handle 312, a distal working end or end effector 326 and anintroducer or elongated shaft 314 disposed in-between.

The electrosurgical system 300 can be configured to supply energy, suchas electrical energy, ultrasonic energy, heat energy or any combinationthereof, to the tissue of a patient either independently orsimultaneously as described, for example, in connection with FIG. 1, forexample. In one example embodiment, the electrosurgical system 300includes a generator 320 in electrical communication with theelectrosurgical instrument 310. The generator 320 is connected toelectrosurgical instrument 310 via a suitable transmission medium suchas a cable 322. In one example embodiment, the generator 320 is coupledto a controller, such as a control unit 325, for example. In variousembodiments, the control unit 325 may be formed integrally with thegenerator 320 or may be provided as a separate circuit module or deviceelectrically coupled to the generator 320 (shown in phantom toillustrate this option). Although in the presently disclosed embodiment,the generator 320 is shown separate from the electrosurgical instrument310, in one example embodiment, the generator 320 (and/or the controlunit 325) may be formed integrally with the electrosurgical instrument310 to form a unitary electrosurgical system 300, where a batterylocated within the electrosurgical instrument 310 is the energy sourceand a circuit coupled to the battery produces the suitable electricalenergy, ultrasonic energy, or heat energy. One such example is describedherein below in connection with FIGS. 17-18C.

The generator 320 may comprise an input device 335 located on a frontpanel of the generator 320 console. The input device 335 may compriseany suitable device that generates signals suitable for programming theoperation of the generator 320, such as a keyboard, or input port, forexample. In one example embodiment, various electrodes in the first jaw364A and the second jaw 364B may be coupled to the generator 320. Thecable 322 may comprise multiple electrical conductors for theapplication of electrical energy to positive (+) and negative (−)electrodes of the electrosurgical instrument 310. The control unit 325may be used to activate the generator 320, which may serve as anelectrical source. In various embodiments, the generator 320 maycomprise an RF source, an ultrasonic source, a direct current source,and/or any other suitable type of electrical energy source, for example,which may be activated independently or simultaneously

In various embodiments, the electrosurgical system 300 may comprise atleast one supply conductor 331 and at least one return conductor 333,wherein current can be supplied to electrosurgical instrument 300 viathe supply conductor 331 and wherein the current can flow back to thegenerator 320 via the return conductor 333. In various embodiments, thesupply conductor 331 and the return conductor 333 may comprise insulatedwires and/or any other suitable type of conductor. In certainembodiments, as described below, the supply conductor 331 and the returnconductor 333 may be contained within and/or may comprise the cable 322extending between, or at least partially between, the generator 320 andthe end effector 326 of the electrosurgical instrument 310. In anyevent, the generator 320 can be configured to apply a sufficient voltagedifferential between the supply conductor 331 and the return conductor333 such that sufficient current can be supplied to the end effector110.

FIG. 12 is a side view of one example embodiment of the handle 312 ofthe surgical instrument 310. In FIG. 12, the handle 312 is shown withhalf of a first handle body 312A (see FIG. 11) removed to illustratevarious components within second handle body 312B. The handle 312 maycomprise a lever arm 321 (e.g., a trigger) which may be pulled along apath 33. The lever arm 321 may be coupled to an axially moveable member378 (FIGS. 13-16) disposed within elongated shaft 314 by a shuttle 384operably engaged to an extension 398 of lever arm 321. The shuttle 384may further be connected to a biasing device, such as a spring 388,which may also be connected to the second handle body 312B, to bias theshuttle 384 and thus the axially moveable member 378 in a proximaldirection, thereby urging the jaws 364A and 364B to an open position asseen in FIG. 11. Also, referring to FIGS. 11-12, a locking member 190(see FIG. 12) may be moved by a locking switch 328 (see FIG. 11) betweena locked position, where the shuttle 384 is substantially prevented frommoving distally as illustrated, and an unlocked position, where theshuttle 384 may be allowed to freely move in the distal direction,toward the elongated shaft 314. The handle 312 can be any type ofpistol-grip or other type of handle known in the art that is configuredto carry actuator levers, triggers or sliders for actuating the firstjaw 364A and the second jaw 364B. The elongated shaft 314 may have acylindrical or rectangular cross-section, for example, and can comprisea thin-wall tubular sleeve that extends from handle 312. The elongatedshaft 314 may include a bore extending therethrough for carryingactuator mechanisms, for example, the axially moveable member 378, foractuating the jaws and for carrying electrical leads for delivery ofelectrical energy to electrosurgical components of the end effector 326.

The end effector 326 may be adapted for capturing and transecting tissueand for the contemporaneously welding the captured tissue withcontrolled application of energy (e.g., RF energy). The first jaw 364Aand the second jaw 364B may close to thereby capture or engage tissueabout a longitudinal axis “T” defined by the axially moveable member378. The first jaw 364A and second jaw 364B may also apply compressionto the tissue. In some embodiments, the elongated shaft 314, along withfirst jaw 364A and second jaw 364B, can be rotated a full 360° degrees,as shown by arrow 196 (see FIG. 11), relative to handle 312. Forexample, a rotation knob 348 may be rotatable about the longitudinalaxis of the shaft 314 and may be coupled to the shaft 314 such thatrotation of the knob 348 causes corresponding rotation of the shaft 314.The first jaw 364A and the second jaw 364B can remain openable and/orcloseable while rotated.

FIG. 13 shows a perspective view of one example embodiment of the endeffector 326 with the jaws 364A, 364B open, while FIG. 14 shows aperspective view of one example embodiment of the end effector 326 withthe jaws 364A, 364B closed. As noted above, the end effector 326 maycomprise the upper first jaw 364A and the lower second jaw 364B, whichmay be straight or curved. The first jaw 364A and the second jaw 364Bmay each comprise an elongated slot or channel 362A and 362B,respectively, disposed outwardly along their respective middle portions.Further, the first jaw 364A and second jaw 364B may each havetissue-gripping elements, such as teeth 363, disposed on the innerportions of first jaw 364A and second jaw 364B. The first jaw 364A maycomprise an upper first jaw body 200A with an upper first outward-facingsurface 202A and an upper first energy delivery surface 365A. The secondjaw 364B may comprise a lower second jaw body 200B with a lower secondoutward-facing surface 202B and a lower second energy delivery surface365B. The first energy delivery surface 365A and the second energydelivery surface 365B may both extend in a “U” shape about the distalend of the end effector 326.

The lever arm 321 of the handle 312 (FIG. 12) may be adapted to actuatethe axially moveable member 378, which may also function as ajaw-closing mechanism. For example, the axially moveable member 378 maybe urged distally as the lever arm 321 is pulled proximally along thepath 33 via the shuttle 384, as shown in FIG. 12 and discussed above.FIG. 15 is a perspective view of one example embodiment of the axiallymoveable member 378 of the surgical instrument 310. The axially moveablemember 378 may comprise one or several pieces, but in any event, may bemovable or translatable with respect to the elongated shaft 314 and/orthe jaws 364A, 364B. Also, in at least one example embodiment, theaxially moveable member 378 may be made of 17-4 precipitation hardenedstainless steel. The distal end of axially moveable member 378 maycomprise a flanged “I”-beam configured to slide within the channels 362Aand 362B in jaws 364A and 364B. The axially moveable member 378 mayslide within the channels 362A, 362B to open and close the first jaw364A and the second jaw 364B. The distal end of the axially moveablemember 378 may also comprise an upper flange or “c”-shaped portion 378Aand a lower flange or “c”-shaped portion 378B. The flanges 378A and 378Brespectively define inner cam surfaces 367A and 367B for engagingoutward facing surfaces of the first jaw 364A and the second jaw 364B.The opening-closing of jaws 364A and 364B can apply very highcompressive forces on tissue using cam mechanisms which may includemovable “I-beam” axially moveable member 378 and the outward facingsurfaces 369A, 369B of jaws 364A, 364B.

More specifically, referring now to FIGS. 13-15, collectively, the innercam surfaces 367A and 367B of the distal end of axially moveable member378 may be adapted to slidably engage the first outward-facing surface369A and the second outward-facing surface 369B of the first jaw 364Aand the second jaw 364B, respectively. The channel 362A within first jaw364A and the channel 362B within the second jaw 364B may be sized andconfigured to accommodate the movement of the axially moveable member378, which may comprise a tissue-cutting element 371, for example,comprising a sharp distal edge. FIG. 14, for example, shows the distalend of the axially moveable member 378 advanced at least partiallythrough channels 362A and 362B (FIG. 13). The advancement of the axiallymoveable member 378 may close the end effector 326 from the openconfiguration shown in FIG. 13. In the closed position shown by FIG. 14,the upper first jaw 364A and lower second jaw 364B define a gap ordimension D between the first energy delivery surface 365A and secondenergy delivery surface 365B of first jaw 364A and second jaw 364B,respectively. In various embodiments, dimension D can equal from about0.0005″ to about 0.040″, for example, and in some embodiments, betweenabout 0.001″ to about 0.010″, for example. Also, the edges of the firstenergy delivery surface 365A and the second energy delivery surface 365Bmay be rounded to prevent the dissection of tissue.

FIG. 16 is a section view of one example embodiment of the end effector326 of the surgical instrument 310. The engagement, ortissue-contacting, surface 365B of the lower jaw 364B is adapted todeliver energy to tissue, at least in part, through aconductive-resistive matrix, such as a variable resistive positivetemperature coefficient (PTC) body, as discussed in more detail below.At least one of the upper and lower jaws 364A, 364B may carry at leastone electrode 373 configured to deliver the energy from the generator320 to the captured tissue. The engagement, or tissue-contacting,surface 365A of upper jaw 364A may carry a similar conductive-resistivematrix (i.e., a PTC material), or in some embodiments the surface may bea conductive electrode or an insulative layer, for example.Alternatively, the engagement surfaces of the jaws can carry any of theenergy delivery components disclosed in U.S. Pat. No. 6,773,409, filedOct. 22, 2001, entitled ELECTROSURGICAL JAW STRUCTURE FOR CONTROLLEDENERGY DELIVERY, the entire disclosure of which is incorporated hereinby reference.

The first energy delivery surface 365A and the second energy deliverysurface 365B may each be in electrical communication with the generator320. The first energy delivery surface 365A and the second energydelivery surface 365B may be configured to contact tissue and deliverelectrosurgical energy to captured tissue which are adapted to seal orweld the tissue. The control unit 325 regulates the electrical energydelivered by electrical generator 320 which in turn deliverselectrosurgical energy to the first energy delivery surface 365A and thesecond energy delivery surface 365B. The energy delivery may beinitiated by an activation button 328 (FIG. 12) operably engaged withthe lever arm 321 and in electrical communication with the generator 320via cable 322. In one example embodiment, the electrosurgical instrument310 may be energized by the generator 320 by way of a foot switch 329(FIG. 11). When actuated, the foot switch 329 triggers the generator 320to deliver electrical energy to the end effector 326, for example. Thecontrol unit 325 may regulate the power generated by the generator 320during activation. Although the foot switch 329 may be suitable in manycircumstances, other suitable types of switches can be used.

As mentioned above, the electrosurgical energy delivered by electricalgenerator 320 and regulated, or otherwise controlled, by the controlunit 325 may comprise radio frequency (RF) energy, or other suitableforms of electrical energy. Further, the opposing first and secondenergy delivery surfaces 365A and 365B may carry variable resistivepositive temperature coefficient (PTC) bodies that are in electricalcommunication with the generator 320 and the control unit 325.Additional details regarding electrosurgical end effectors, jaw closingmechanisms, and electrosurgical energy-delivery surfaces are describedin the following U.S. patents and published patent applications: U.S.Pat. Nos. 7,087,054; 7,083,619; 7,070,597; 7,041,102; 7,011,657;6,929,644; 6,926,716; 6,913,579; 6,905,497; 6,802,843; 6,770,072;6,656,177; 6,533,784; and 6,500,312; and U.S. Pat. App. Pub. Nos.2010/0036370 and 2009/0076506, all of which are incorporated herein intheir entirety by reference and made a part of this specification.

In one example embodiment, the generator 320 may be implemented as anelectrosurgery unit (ESU) capable of supplying power sufficient toperform bipolar electrosurgery using radio frequency (RF) energy. In oneexample embodiment, the ESU can be a bipolar ERBE ICC 350 sold by ERBEUSA, Inc. of Marietta, Ga. In some embodiments, such as for bipolarelectrosurgery applications, a surgical instrument having an activeelectrode and a return electrode can be utilized, wherein the activeelectrode and the return electrode can be positioned against, adjacentto and/or in electrical communication with, the tissue to be treatedsuch that current can flow from the active electrode, through thepositive temperature coefficient (PTC) bodies and to the returnelectrode through the tissue. Thus, in various embodiments, theelectrosurgical system 300 may comprise a supply path and a return path,wherein the captured tissue being treated completes, or closes, thecircuit. In one example embodiment, the generator 320 may be a monopolarRF ESU and the electrosurgical instrument 310 may comprise a monopolarend effector 326 in which one or more active electrodes are integrated.For such a system, the generator 320 may require a return pad inintimate contact with the patient at a location remote from theoperative site and/or other suitable return path. The return pad may beconnected via a cable to the generator 320. In other embodiments, theoperator 20 may provide subtherapeutic RF energy levels for purposes ofevaluating tissue conditions and providing feedback in theelectrosurgical system 300. Such feedback may be employed to control thetherapeutic RF energy output of the electrosurgical instrument 310.

During operation of electrosurgical instrument 300, the user generallygrasps tissue, supplies energy to the captured tissue to form a weld ora seal (e.g., by actuating button 328 and/or pedal 216), and then drivesa tissue-cutting element 371 at the distal end of the axially moveablemember 378 through the captured tissue. According to variousembodiments, the translation of the axial movement of the axiallymoveable member 378 may be paced, or otherwise controlled, to aid indriving the axially moveable member 378 at a suitable rate of travel. Bycontrolling the rate of the travel, the likelihood that the capturedtissue has been properly and functionally sealed prior to transectionwith the cutting element 371 is increased.

FIG. 17 is a perspective view of one example embodiment of a surgicalinstrument system comprising a cordless electrical energy surgicalinstrument 410. The electrosurgical system is similar to theelectrosurgical system 300. The electrosurgical system can be configuredto supply energy, such as electrical energy, ultrasonic energy, heatenergy, or any combination thereof, to the tissue of a patient eitherindependently or simultaneously as described in connection with FIGS. 1and 11, for example. The electrosurgical instrument may utilize the endeffector 326 and elongated shaft 314 described herein in conjunctionwith a cordless proximal handle 412. In one example embodiment, thehandle 412 includes a generator circuit 420 (see FIG. 18A). Thegenerator circuit 420 performs a function substantially similar to thatof generator 320. In one example embodiment, the generator circuit 420is coupled to a controller, such as a control circuit. In theillustrated embodiment, the control circuit is integrated into thegenerator circuit 420. In other embodiments, the control circuit may beseparate from the generator circuit 420.

In one example embodiment, various electrodes in the end effector 326(including jaws 364A, 364B thereof) may be coupled to the generatorcircuit 420. The control circuit may be used to activate the generator420, which may serve as an electrical source. In various embodiments,the generator 420 may comprise an RF source, an ultrasonic source, adirect current source, and/or any other suitable type of electricalenergy source, for example. In one example embodiment, a button 328 maybe provided to activate the generator circuit 420 to provide energy tothe end effectors 326, 326.

FIG. 18A is a side view of one example embodiment of the handle 412 ofthe cordless surgical instrument 410. In FIG. 18A, the handle 412 isshown with half of a first handle body removed to illustrate variouscomponents within second handle body 434. The handle 412 may comprise alever arm 424 (e.g., a trigger) which may be pulled along a path 33around a pivot point. The lever arm 424 may be coupled to an axiallymoveable member 478 disposed within elongated shaft 314 by a shuttleoperably engaged to an extension of lever arm 424. In one exampleembodiment, the lever arm 424 defines a shepherd's hook shape comprisinga distal member 424 a and a proximal member 424 b.

In one example embodiment, the cordless electrosurgical instrumentcomprises a battery 437. The battery 437 provides electrical energy tothe generator circuit 420. The battery 437 may be any battery suitablefor driving the generator circuit 420 at the desired energy levels. Inone example embodiment, the battery 437 is a 100 mAh, triple-cellLithium Ion Polymer battery. The battery may be fully charged prior touse in a surgical procedure, and may hold a voltage of about 12.6V. Thebattery 437 may have two fuses fitted to the cordless electrosurgicalinstrument 410, arranged in line with each battery terminal. In oneexample embodiment, a charging port 439 is provided to connect thebattery 437 to a DC current source (not shown).

The generator circuit 420 may be configured in any suitable manner. Insome embodiments, the generator circuit comprises an RF drive andcontrol circuit 440 and a controller circuit 482. FIG. 18B illustratesan RF drive and control circuit 440, according to one embodiment. FIG.18B is a part schematic part block diagram illustrating the RF drive andcontrol circuitry 440 used in this embodiment to generate and controlthe RF electrical energy supplied to the end effector 326. As will beexplained in more detail below, in this embodiment, the drive circuitry440 is a resonant mode RF amplifier comprising a parallel resonantnetwork on the RF amplifier output and the control circuitry operates tocontrol the operating frequency of the drive signal so that it ismaintained at the resonant frequency of the drive circuit, which in turncontrols the amount of power supplied to the end effector 326. The waythat this is achieved will become apparent from the followingdescription.

As shown in FIG. 18B, the RF drive and control circuit 440 comprises theabove described battery 437 are arranged to supply, in this example,about 0V and about 12V rails. An input capacitor (C_(in)) 442 isconnected between the 0V and the 12V for providing a low sourceimpedance. A pair of FET switches 443-1 and 443-2 (both of which areN-channel in this embodiment to reduce power losses) is connected inseries between the 0V rail and the 12V rail. FET gate drive circuitry805 is provided that generates two drive signals—one for driving each ofthe two FETs 443. The FET gate drive circuitry 445 generates drivesignals that causes the upper FET (443-1) to be on when the lower FET(443-2) is off and vice versa. This causes the node 447 to bealternately connected to the 12V rail (when the FET 443-1 is switchedon) and the 0V rail (when the FET 443-2 is switched on). FIG. 18B alsoshows the internal parasitic diodes 448-1 and 448-2 of the correspondingFETs 443, which conduct during any periods that the FETs 443 are open.

As shown in FIG. 18B, the node 447 is connected to an inductor-inductorresonant circuit 450 formed by inductor L_(s) 452 and inductor L_(m)454. The FET gate driving circuitry 445 is arranged to generate drivesignals at a drive frequency (f_(d)) that opens and crosses the FETswitches 443 at the resonant frequency of the parallel resonant circuit450. As a result of the resonant characteristic of the resonant circuit450, the square wave voltage at node 447 will cause a substantiallysinusoidal current at the drive frequency (f_(d)) to flow within theresonant circuit 450. As illustrated in FIG. 18B, the inductor L_(m) 454is the primary of a transformer 455, the secondary of which is formed byinductor L_(sec) 456. The inductor L_(sec) 456 of the transformer 455secondary is connected to an inductor-capacitor-capacitor parallelresonant circuit 457 formed by inductor L₂ 458, capacitor C₄ 460, andcapacitor C₂ 462. The transformer 455 up-converts the drive voltage(V_(d)) across the inductor L_(m) 454 to the voltage that is applied tothe output parallel resonant circuit 457. The load voltage (V_(L)) isoutput by the parallel resonant circuit 457 and is applied to the load(represented by the load resistance R_(load) 459 in FIG. 18B)corresponding to the impedance of the forceps' jaws and any tissue orvessel gripped by the end effector 326. As shown in FIG. 18B, a pair ofDC blocking capacitors C_(bI) 480-1 and 480-2 is provided to prevent anyDC signal being applied to the load 459.

In one embodiment, the transformer 455 may be implemented with a CoreDiameter (mm), Wire Diameter (mm), and Gap between secondary windings inaccordance with the following specifications:

Core Diameter, D (mm)

D=19.9×10-3

Wire diameter, W (mm) for 22 AWG wire

W=7.366×10-4

Gap between secondary windings, in gap=0.125

G=gap/25.4

In this embodiment, the amount of electrical power supplied to the endeffector 326 is controlled by varying the frequency of the switchingsignals used to switch the FETs 443. This works because the resonantcircuit 450 acts as a frequency dependent (loss less) attenuator. Thecloser the drive signal is to the resonant frequency of the resonantcircuit 450, the less the drive signal is attenuated. Similarly, as thefrequency of the drive signal is moved away from the resonant frequencyof the circuit 450, the more the drive signal is attenuated and so thepower supplied to the load reduces. In this embodiment, the frequency ofthe switching signals generated by the FET gate drive circuitry 445 iscontrolled by a controller 481 based on a desired power to be deliveredto the load 459 and measurements of the load voltage (V_(L)) and of theload current (I_(L)) obtained by conventional voltage sensing circuitry483 and current sensing circuitry 485. The way that the controller 481operates will be described in more detail below.

In one embodiment, the voltage sensing circuitry 483 and the currentsensing circuitry 485 may be implemented with high bandwidth, high speedrail-to-rail amplifiers (e.g., LMH6643 by National Semiconductor). Suchamplifiers, however, consume a relatively high current when they areoperational. Accordingly, a power save circuit may be provided to reducethe supply voltage of the amplifiers when they are not being used in thevoltage sensing circuitry 483 and the current sensing circuitry 485. Inone-embodiment, a step-down regulator (e.g., LT3502 by LinearTechnologies) may be employed by the power save circuit to reduce thesupply voltage of the rail-to-rail amplifiers and thus extend the lifeof the battery 437.

FIG. 18C illustrates the main components of the controller 481,according to one embodiment. In the embodiment illustrated in FIG. 18C,the controller 481 is a microprocessor based controller and so most ofthe components illustrated in FIG. 16 are software based components.Nevertheless, a hardware based controller 481 may be used instead. Asshown, the controller 481 includes synchronous I,Q sampling circuitry491 that receives the sensed voltage and current signals from thesensing circuitry 483 and 485 and obtains corresponding samples whichare passed to a power, V_(rms) and I_(rms) calculation module 493. Thecalculation module 493 uses the received samples to calculate the RMSvoltage and RMS current applied to the load 459 (FIG. 18B; end effector326 and tissue/vessel gripped thereby) and from them the power that ispresently being supplied to the load 459. The determined values are thenpassed to a frequency control module 495 and a medical device controlmodule 497. The medical device control module 497 uses the values todetermine the present impedance of the load 459 and based on thisdetermined impedance and a pre-defined algorithm, determines what setpoint power (P_(set)) should be applied to the frequency control module495. The medical device control module 497 is in turn controlled bysignals received from a user input module 499 that receives inputs fromthe user (for example pressing buttons or activating the control levers114, 110 on the handle 104) and also controls output devices (lights, adisplay, speaker or the like) on the handle 104 via a user output module461.

The frequency control module 495 uses the values obtained from thecalculation module 493 and the power set point (P_(set)) obtained fromthe medical device control module 497 and predefined system limits (tobe explained below), to determine whether or not to increase or decreasethe applied frequency. The result of this decision is then passed to asquare wave generation module 463 which, in this embodiment, incrementsor decrements the frequency of a square wave signal that it generates by1 kHz, depending on the received decision. As those skilled in the artwill appreciate, in an alternative embodiment, the frequency controlmodule 495 may determine not only whether to increase or decrease thefrequency, but also the amount of frequency change required. In thiscase, the square wave generation module 463 would generate thecorresponding square wave signal with the desired frequency shift. Inthis embodiment, the square wave signal generated by the square wavegeneration module 463 is output to the FET gate drive circuitry 445,which amplifies the signal and then applies it to the FET 443-1. The FETgate drive circuitry 445 also inverts the signal applied to the FET443-1 and applies the inverted signal to the FET 443-2.

The electrosurgical instrument 410 may comprise additional features asdiscussed with respect to electrosurgical system 300. Those skilled inthe art will recognize that electrosurgical instrument 410 may include arotation knob 348, an elongated shaft 314, and an end effector 326.These elements function in a substantially similar manner to thatdiscussed above with respect to the electrosurgical system 300. In oneexample embodiment, the cordless electrosurgical instrument 410 mayinclude visual indicators 435. The visual indicators 435 may provide avisual indication signal to an operator. In one example embodiment, thevisual indication signal may alert an operator that the device is on, orthat the device is applying energy to the end effector. Those skilled inthe art will recognize that the visual indicators 435 may be configuredto provide information on multiple states of the device.

Over the years a variety of minimally invasive robotic (or“telesurgical”) systems have been developed to increase surgicaldexterity as well as to permit a surgeon to operate on a patient in anintuitive manner. Robotic surgical systems can be used with manydifferent types of surgical instruments including, for example,ultrasonic or electrosurgical instruments, as described herein. Examplerobotic systems include those manufactured by Intuitive Surgical, Inc.,of Sunnyvale, Calif., U.S.A. Such systems, as well as robotic systemsfrom other manufacturers, are disclosed in the following U.S. Patentswhich are each herein incorporated by reference in their respectiveentirety: U.S. Pat. No. 5,792,135, entitled “Articulated SurgicalInstrument For Performing Minimally Invasive Surgery With EnhancedDexterity and Sensitivity”, U.S. Pat. No. 6,231,565, entitled “RoboticArm DLUs For Performing Surgical Tasks”, U.S. Pat. No. 6,783,524,entitled “Robotic Surgical Tool With Ultrasound Cauterizing and CuttingInstrument”, U.S. Pat. No. 6,364,888, entitled “Alignment of Master andSlave In a Minimally Invasive Surgical Apparatus”, U.S. Pat. No.7,524,320, entitled “Mechanical Actuator Interface System For RoboticSurgical Tools”, U.S. Pat. No. 7,691,098, entitled Platform Link WristMechanism”, U.S. Pat. No. 7,806,891, entitled “Repositioning andReorientation of Master/Slave Relationship in Minimally InvasiveTelesurgery”, and U.S. Pat. No. 7,824,401, entitled “Surgical Tool WithWristed Monopolar Electrosurgical End Effectors”. Many of such systems,however, have in the past been unable to generate the magnitude offorces required to effectively cut and fasten tissue.

FIGS. 19-46C illustrate example embodiments of robotic surgical systems.In some embodiments, the disclosed robotic surgical systems may utilizethe ultrasonic or electrosurgical instruments described herein. Thoseskilled in the art will appreciate that the illustrated robotic surgicalsystems are not limited to only those instruments described herein, andmay utilize any compatible surgical instruments. Those skilled in theart will further appreciate that while various embodiments describedherein may be used with the described robotic surgical systems, thedisclosure is not so limited, and may be used with any compatiblerobotic surgical system.

FIGS. 19-25 illustrate the structure and operation of several examplerobotic surgical systems and components thereof. FIG. 19 shows a blockdiagram of an example robotic surgical system 1000. The system 1000comprises at least one controller 508 and at least one arm cart 510. Thearm cart 510 may be mechanically coupled to one or more roboticmanipulators or arms, indicated by box 512. Each of the robotic arms 512may comprise one or more surgical instruments 514 for performing varioussurgical tasks on a patient 504. Operation of the arm cart 510,including the arms 512 and instruments 514 may be directed by aclinician 502 from a controller 508. In some embodiments, a secondcontroller 508′, operated by a second clinician 502′ may also directoperation of the arm cart 510 in conjunction with the first clinician502′. For example, each of the clinicians 502, 502′ may controldifferent arms 512 of the cart or, in some cases, complete control ofthe arm cart 510 may be passed between the clinicians 502, 502′. In someembodiments, additional arm carts (not shown) may be utilized on thepatient 504. These additional arm carts may be controlled by one or moreof the controllers 508, 508′. The arm cart(s) 510 and controllers 508,508′ may be in communication with one another via a communications link516, which may be any suitable type of wired or wireless communicationslink carrying any suitable type of signal (e.g., electrical, optical,infrared, etc.) according to any suitable communications protocol.Example implementations of robotic surgical systems, such as the system1000, are disclosed in U.S. Pat. No. 7,524,320 which has been hereinincorporated by reference. Thus, various details of such devices willnot be described in detail herein beyond that which may be necessary tounderstand various embodiments of the claimed device.

FIG. 20 shows one example embodiment of a robotic arm cart 520. Therobotic arm cart 520 is configured to actuate a plurality of surgicalinstruments or instruments, generally designated as 522 within a workenvelope 519. Various robotic surgery systems and methods employingmaster controller and robotic arm cart arrangements are disclosed inU.S. Pat. No. 6,132,368, entitled “Multi-Component Telepresence Systemand Method”, the full disclosure of which is incorporated herein byreference. In various forms, the robotic arm cart 520 includes a base524 from which, in the illustrated embodiment, three surgicalinstruments 522 are supported. In various forms, the surgicalinstruments 522 are each supported by a series of manually articulatablelinkages, generally referred to as set-up joints 526, and a roboticmanipulator 528. These structures are herein illustrated with protectivecovers extending over much of the robotic linkage. These protectivecovers may be optional, and may be limited in size or entirelyeliminated in some embodiments to minimize the inertia that isencountered by the servo mechanisms used to manipulate such devices, tolimit the volume of moving components so as to avoid collisions, and tolimit the overall weight of the cart 520. Cart 520 will generally havedimensions suitable for transporting the cart 520 between operatingrooms. The cart 520 may be configured to typically fit through standardoperating room doors and onto standard hospital elevators. In variousforms, the cart 520 would preferably have a weight and include a wheel(or other transportation) system that allows the cart 520 to bepositioned adjacent an operating table by a single attendant.

FIG. 21 shows one example embodiment of the robotic manipulator 528 ofthe robotic arm cart 520. In the example shown in FIG. 21, the roboticmanipulators 528 may include a linkage 530 that constrains movement ofthe surgical instrument 522. In various embodiments, linkage 530includes rigid links coupled together by rotational joints in aparallelogram arrangement so that the surgical instrument 522 rotatesaround a point in space 532, as more fully described in issued U.S. Pat.No. 5,817,084, the full disclosure of which is herein incorporated byreference. The parallelogram arrangement constrains rotation to pivotingabout an axis 534 a, sometimes called the pitch axis. The linkssupporting the parallelogram linkage are pivotally mounted to set-upjoints 526 (FIG. 20) so that the surgical instrument 522 further rotatesabout an axis 534 b, sometimes called the yaw axis. The pitch and yawaxes 534 a, 534 b intersect at the remote center 536, which is alignedalong a shaft 538 of the surgical instrument 522. The surgicalinstrument 522 may have further degrees of driven freedom as supportedby manipulator 540, including sliding motion of the surgical instrument522 along the longitudinal instrument axis “LT-LT”. As the surgicalinstrument 522 slides along the instrument axis LT-LT relative tomanipulator 540 (arrow 534 c), remote center 536 remains fixed relativeto base 542 of manipulator 540. Hence, the entire manipulator 540 isgenerally moved to re-position remote center 536. Linkage 530 ofmanipulator 540 is driven by a series of motors 544. These motors 544actively move linkage 530 in response to commands from a processor of acontrol system. As will be discussed in further detail below, motors 544are also employed to manipulate the surgical instrument 522.

FIG. 22 shows one example embodiment of a robotic arm cart 520′ havingan alternative set-up joint structure. In this example embodiment, asurgical instrument 522 is supported by an alternative manipulatorstructure 528′ between two tissue manipulation instruments. Those ofordinary skill in the art will appreciate that various embodiments ofthe claimed device may incorporate a wide variety of alternative roboticstructures, including those described in U.S. Pat. No. 5,878,193, thefull disclosure of which is incorporated herein by reference.Additionally, while the data communication between a robotic componentand the processor of the robotic surgical system is primarily describedherein with reference to communication between the surgical instrument522 and the controller, it should be understood that similarcommunication may take place between circuitry of a manipulator, aset-up joint, an endoscope or other image capture device, or the like,and the processor of the robotic surgical system for componentcompatibility verification, component-type identification, componentcalibration (such as off-set or the like) communication, confirmation ofcoupling of the component to the robotic surgical system, or the like.

FIG. 23 shows one example embodiment of a controller 518 that may beused in conjunction with a robotic arm cart, such as the robotic armcarts 520, 520′ depicted in FIGS. 20-22. The controller 518 generallyincludes master controllers (generally represented as 519 in FIG. 23)which are grasped by the clinician and manipulated in space while theclinician views the procedure via a stereo display 521. A surgeon feedback meter 515 may be viewed via the display 521 and provide the surgeonwith a visual indication of the amount of force being applied to thecutting instrument or dynamic clamping member. The master controllers519 generally comprise manual input devices which preferably move withmultiple degrees of freedom, and which often further have a handle ortrigger for actuating instruments (for example, for closing graspingsaws, applying an electrical potential to an electrode, or the like).

FIG. 24 shows one example embodiment of an ultrasonic surgicalinstrument 522 adapted for use with a robotic surgical system. Forexample, the surgical instrument 522 may be coupled to one of thesurgical manipulators 528, 528′ described hereinabove. As can be seen inFIG. 24, the surgical instrument 522 comprises a surgical end effector548 that comprises an ultrasonic blade 550 and clamp arm 552, which maybe coupled to an elongated shaft assembly 554 that, in some embodiments,may comprise an articulation joint 556. FIG. 25 shows another exampleembodiment having an electrosurgical instrument 523 in place of theultrasonic surgical instrument 522. The surgical instrument 523comprises a surgical end effector 548 that comprises closable jaws 551A,551B having energy deliver surfaces 553A, 553B for engaging andproviding electrical energy to tissue between the jaws 551A, 551B. Atissue cutting element or knife 555 may be positioned at the distal endof an axially movable member 557 that may extend through the elongatedshaft assembly 554 to the instrument mounting portion 558. FIG. 26 showsone example embodiment of an instrument drive assembly 546 that may becoupled to one of the surgical manipulators 528, 528′ to receive andcontrol the surgical instruments 522, 523. The instrument drive assembly546 may also be operatively coupled to the controller 518 to receiveinputs from the clinician for controlling the instrument 522, 523. Forexample, actuation (e.g., opening and closing) of the clamp arm 552,actuation (e.g., opening and closing) of the jaws 551A, 551B, actuationof the ultrasonic blade 550, extension of the knife 555 and actuation ofthe energy delivery surfaces 553A, 553B, etc. may be controlled throughthe instrument drive assembly 546 based on inputs from the clinicianprovided through the controller 518. The surgical instrument 522 isoperably coupled to the manipulator by an instrument mounting portion,generally designated as 558. The surgical instruments 522 furtherinclude an interface 560 which mechanically and electrically couples theinstrument mounting portion 558 to the manipulator.

FIG. 27 shows another view of the instrument drive assembly of FIG. 26including the ultrasonic surgical instrument 522. FIG. 28 shows anotherview of the instrument drive assembly of FIG. 26 including theelectrosurgical instrument 523. The instrument mounting portion 558includes an instrument mounting plate 562 that operably supports aplurality of (four are shown in FIG. 26) rotatable body portions, drivendiscs or elements 564, that each include a pair of pins 566 that extendfrom a surface of the driven element 564. One pin 566 is closer to anaxis of rotation of each driven elements 564 than the other pin 566 onthe same driven element 564, which helps to ensure positive angularalignment of the driven element 564. The driven elements 564 and pints566 may be positioned on an adapter side 567 of the instrument mountingplate 562.

Interface 560 also includes an adaptor portion 568 that is configured tomountingly engage the mounting plate 562 as will be further discussedbelow. The adaptor portion 568 may include an array of electricalconnecting pins 570, which may be coupled to a memory structure by acircuit board within the instrument mounting portion 558. Whileinterface 560 is described herein with reference to mechanical,electrical, and magnetic coupling elements, it should be understood thata wide variety of telemetry modalities might be used, includinginfrared, inductive coupling, or the like.

FIGS. 29-31 show additional views of the adapter portion 568 of theinstrument drive assembly 546 of FIG. 26. The adapter portion 568generally includes an instrument side 572 and a holder side 574 (FIG.29). In various embodiments, a plurality of rotatable bodies 576 aremounted to a floating plate 578 which has a limited range of movementrelative to the surrounding adaptor structure normal to the majorsurfaces of the adaptor 568. Axial movement of the floating plate 578helps decouple the rotatable bodies 576 from the instrument mountingportion 558 when the levers 580 along the sides of the instrumentmounting portion housing 582 are actuated (See FIGS. 24, 25) Othermechanisms/arrangements may be employed for releasably coupling theinstrument mounting portion 558 to the adaptor 568. In at least oneform, rotatable bodies 576 are resiliently mounted to floating plate 578by resilient radial members, which extend into a circumferentialindentation about the rotatable bodies 576. The rotatable bodies 576 canmove axially relative to plate 578 by deflection of these resilientstructures. When disposed in a first axial position (toward instrumentside 572) the rotatable bodies 576 are free to rotate without angularlimitation. However, as the rotatable bodies 576 move axially towardinstrument side 572, tabs 584 (extending radially from the rotatablebodies 576) laterally engage detents on the floating plates so as tolimit angular rotation of the rotatable bodies 576 about their axes.This limited rotation can be used to help drivingly engage the rotatablebodies 576 with drive pins 586 of a corresponding instrument holderportion 588 of the robotic system, as the drive pins 586 will push therotatable bodies 576 into the limited rotation position until the pins586 are aligned with (and slide into) openings 590.

Openings 590 on the instrument side 572 and openings 590 on the holderside 574 of rotatable bodies 576 are configured to accurately align thedriven elements 564 (FIGS. 27, 28) of the instrument mounting portion558 with the drive elements 592 of the instrument holder 588. Asdescribed above regarding inner and outer pins 566 of driven elements564, the openings 590 are at differing distances from the axis ofrotation on their respective rotatable bodies 576 so as to ensure thatthe alignment is not 33 degrees from its intended position.Additionally, each of the openings 590 may be slightly radiallyelongated so as to fittingly receive the pins 566 in the circumferentialorientation. This allows the pins 566 to slide radially within theopenings 590 and accommodate some axial misalignment between theinstrument 522, 523 and instrument holder 588, while minimizing anyangular misalignment and backlash between the drive and driven elements.Openings 590 on the instrument side 572 may be offset by about 90degrees from the openings 590 (shown in broken lines) on the holder side574, as can be seen most clearly in FIG. 31.

Various embodiments may further include an array of electrical connectorpins 570 located on holder side 574 of adaptor 568, and the instrumentside 572 of the adaptor 568 may include slots 594 (FIG. 31) forreceiving a pin array (not shown) from the instrument mounting portion558. In addition to transmitting electrical signals between the surgicalinstrument 522, 523 and the instrument holder 588, at least some ofthese electrical connections may be coupled to an adaptor memory device596 (FIG. 30) by a circuit board of the adaptor 568.

A detachable latch arrangement 598 may be employed to releasably affixthe adaptor 568 to the instrument holder 588. As used herein, the term“instrument drive assembly” when used in the context of the roboticsystem, at least encompasses various embodiments of the adapter 568 andinstrument holder 588 and which has been generally designated as 546 inFIG. 26. For example, as can be seen in FIG. 26, the instrument holder588 may include a first latch pin arrangement 600 that is sized to bereceived in corresponding clevis slots 602 provided in the adaptor 568.In addition, the instrument holder 588 may further have second latchpins 604 that are sized to be retained in corresponding latch devises606 in the adaptor 568. See FIG. 30. In at least one form, a latchassembly 608 is movably supported on the adapter 568 and is biasablebetween a first latched position wherein the latch pins 600 are retainedwithin their respective latch clevis 606 and an unlatched positionwherein the second latch pins 604 may be into or removed from the latchdevises 606. A spring or springs (not shown) are employed to bias thelatch assembly into the latched position. A lip on the instrument side572 of adaptor 568 may slidably receive laterally extending tabs ofinstrument mounting housing 582.

As described the driven elements 564 may be aligned with the driveelements 592 of the instrument holder 588 such that rotational motion ofthe drive elements 592 causes corresponding rotational motion of thedriven elements 564. The rotation of the drive elements 592 and drivenelements 564 may be electronically controlled, for example, via therobotic arm 612, in response to instructions received from the clinician502 via a controller 508. The instrument mounting portion 558 maytranslate rotation of the driven elements 564 into motion of thesurgical instrument 522, 523.

FIGS. 32-34 show one example embodiment of the instrument mountingportion 558 showing components for translating motion of the drivenelements 564 into motion of the surgical instrument 522, 523. FIGS.32-34 show the instrument mounting portion with a shaft 538 having asurgical end effector 610 at a distal end thereof. The end effector 610may be any suitable type of end effector for performing a surgical taskon a patient. For example, the end effector may be configured to provideRF and/or ultrasonic energy to tissue at a surgical site. The shaft 538may be rotatably coupled to the instrument mounting portion 558 andsecured by a top shaft holder 646 and a bottom shaft holder 648 at acoupler 650 of the shaft 538.

In one example embodiment, the instrument mounting portion 558 comprisesa mechanism for translating rotation of the various driven elements 564into rotation of the shaft 538, differential translation of membersalong the axis of the shaft (e.g., for articulation), and reciprocatingtranslation of one or more members along the axis of the shaft 538(e.g., for extending and retracting tissue cutting elements such as 555,overtubes and/or other components). In one example embodiment, therotatable bodies 612 (e.g., rotatable spools) are coupled to the drivenelements 564. The rotatable bodies 612 may be formed integrally with thedriven elements 564. In some embodiments, the rotatable bodies 612 maybe formed separately from the driven elements 564 provided that therotatable bodies 612 and the driven elements 564 are fixedly coupledsuch that driving the driven elements 564 causes rotation of therotatable bodies 612. Each of the rotatable bodies 612 is coupled to agear train or gear mechanism to provide shaft articulation and rotationand clamp jaw open/close and knife actuation.

In one example embodiment, the instrument mounting portion 558 comprisesa mechanism for causing differential translation of two or more membersalong the axis of the shaft 538. In the example provided in FIGS. 32-34,this motion is used to manipulate articulation joint 556. In theillustrated embodiment, for example, the instrument mounting portion 558comprises a rack and pinion gearing mechanism to provide thedifferential translation and thus the shaft articulation functionality.In one example embodiment, the rack and pinion gearing mechanismcomprises a first pinion gear 614 coupled to a rotatable body 612 suchthat rotation of the corresponding driven element 564 causes the firstpinion gear 614 to rotate. A bearing 616 is coupled to the rotatablebody 612 and is provided between the driven element 564 and the firstpinion gear 614. The first pinion gear 614 is meshed to a first rackgear 618 to convert the rotational motion of the first pinion gear 614into linear motion of the first rack gear 618 to control thearticulation of the articulation section 556 of the shaft assembly 538in a left direction 620L. The first rack gear 618 is attached to a firstarticulation band 622 (FIG. 32) such that linear motion of the firstrack gear 618 in a distal direction causes the articulation section 556of the shaft assembly 538 to articulate in the left direction 620L. Asecond pinion gear 626 is coupled to another rotatable body 612 suchthat rotation of the corresponding driven element 564 causes the secondpinion gear 626 to rotate. A bearing 616 is coupled to the rotatablebody 612 and is provided between the driven element 564 and the secondpinion gear 626. The second pinion gear 626 is meshed to a second rackgear 628 to convert the rotational motion of the second pinion gear 626into linear motion of the second rack gear 628 to control thearticulation of the articulation section 556 in a right direction 620R.The second rack gear 628 is attached to a second articulation band 624(FIG. 33) such that linear motion of the second rack gear 628 in adistal direction causes the articulation section 556 of the shaftassembly 538 to articulate in the right direction 620R. Additionalbearings may be provided between the rotatable bodies and thecorresponding gears. Any suitable bearings may be provided to supportand stabilize the mounting and reduce rotary friction of shaft andgears, for example.

In one example embodiment, the instrument mounting portion 558 furthercomprises a mechanism for translating rotation of the driven elements564 into rotational motion about the axis of the shaft 538. For example,the rotational motion may be rotation of the shaft 538 itself. In theillustrated embodiment, a first spiral worm gear 630 coupled to arotatable body 612 and a second spiral worm gear 632 coupled to theshaft assembly 538. A bearing 616 (FIG. 17) is coupled to a rotatablebody 612 and is provided between a driven element 564 and the firstspiral worm gear 630. The first spiral worm gear 630 is meshed to thesecond spiral worm gear 632, which may be coupled to the shaft assembly538 and/or to another component of the instrument 522, 523 for whichlongitudinal rotation is desired. Rotation may be caused in a clockwise(CW) and counter-clockwise (CCW) direction based on the rotationaldirection of the first and second spiral worm gears 630, 632.Accordingly, rotation of the first spiral worm gear 630 about a firstaxis is converted to rotation of the second spiral worm gear 632 about asecond axis, which is orthogonal to the first axis. As shown in FIGS.32-33, for example, a CW rotation of the second spiral worm gear 632results in a CW rotation of the shaft assembly 538 in the directionindicated by 634CW. A CCW rotation of the second spiral worm gear 632results in a CCW rotation of the shaft assembly 538 in the directionindicated by 634CCW. Additional bearings may be provided between therotatable bodies and the corresponding gears. Any suitable bearings maybe provided to support and stabilize the mounting and reduce rotaryfriction of shaft and gears, for example.

In one example embodiment, the instrument mounting portion 558 comprisesa mechanism for generating reciprocating translation of one or moremembers along the axis of the shaft 538. Such translation may be used,for example to drive a tissue cutting element, such as 555, drive anovertube for closure and/or articulation of the end effector 610, etc.In the illustrated embodiment, for example, a rack and pinion gearingmechanism may provide the reciprocating translation. A first gear 636 iscoupled to a rotatable body 612 such that rotation of the correspondingdriven element 564 causes the first gear 636 to rotate in a firstdirection. A second gear 638 is free to rotate about a post 640 formedin the instrument mounting plate 562. The first gear 636 is meshed tothe second gear 638 such that the second gear 638 rotates in a directionthat is opposite of the first gear 636. In one example embodiment, thesecond gear 638 is a pinion gear meshed to a rack gear 642, which movesin a liner direction. The rack gear 642 is coupled to a translatingblock 644, which may translate distally and proximally with the rackgear 642. The translation block 644 may be coupled to any suitablecomponent of the shaft assembly 538 and/or the end effector 610 so as toprovide reciprocating longitudinal motion. For example, the translationblock 644 may be mechanically coupled to the tissue cutting element 555of the RF surgical device 523. In some embodiments, the translationblock 644 may be coupled to an overtube, or other component of the endeffector 610 or shaft 538.

FIGS. 35-37 illustrate an alternate embodiment of the instrumentmounting portion 558 showing an alternate example mechanism fortranslating rotation of the driven elements 564 into rotational motionabout the axis of the shaft 538 and an alternate example mechanism forgenerating reciprocating translation of one or more members along theaxis of the shaft 538. Referring now to the alternate rotationalmechanism, a first spiral worm gear 652 is coupled to a second spiralworm gear 654, which is coupled to a third spiral worm gear 656. Such anarrangement may be provided for various reasons including maintainingcompatibility with existing robotic systems 1000 and/or where space maybe limited. The first spiral worm gear 652 is coupled to a rotatablebody 612. The third spiral worm gear 656 is meshed with a fourth spiralworm gear 658 coupled to the shaft assembly 538. A bearing 760 iscoupled to a rotatable body 612 and is provided between a driven element564 and the first spiral worm gear 738. Another bearing 760 is coupledto a rotatable body 612 and is provided between a driven element 564 andthe third spiral worm gear 652. The third spiral worm gear 652 is meshedto the fourth spiral worm gear 658, which may be coupled to the shaftassembly 538 and/or to another component of the instrument 522, 523 forwhich longitudinal rotation is desired. Rotation may be caused in a CWand a CCW direction based on the rotational direction of the spiral wormgears 656, 658. Accordingly, rotation of the third spiral worm gear 656about a first axis is converted to rotation of the fourth spiral wormgear 658 about a second axis, which is orthogonal to the first axis. Asshown in FIGS. 36 and 37, for example, the fourth spiral worm gear 658is coupled to the shaft 538, and a CW rotation of the fourth spiral wormgear 658 results in a CW rotation of the shaft assembly 538 in thedirection indicated by 634CW. A CCW rotation of the fourth spiral wormgear 658 results in a CCW rotation of the shaft assembly 538 in thedirection indicated by 634CCW. Additional bearings may be providedbetween the rotatable bodies and the corresponding gears. Any suitablebearings may be provided to support and stabilize the mounting andreduce rotary friction of shaft and gears, for example.

Referring now to the alternate example mechanism for generatingreciprocating translation of one or more members along the axis of theshaft 538, the instrument mounting portion 558 comprises a rack andpinion gearing mechanism to provide reciprocating translation along theaxis of the shaft 538 (e.g., translation of a tissue cutting element 555of the RF surgical device 523). In one example embodiment, a thirdpinion gear 660 is coupled to a rotatable body 612 such that rotation ofthe corresponding driven element 564 causes the third pinion gear 660 torotate in a first direction. The third pinion gear 660 is meshed to arack gear 662, which moves in a linear direction. The rack gear 662 iscoupled to a translating block 664. The translating block 664 may becoupled to a component of the device 522, 523, such as, for example, thetissue cutting element 555 of the RF surgical device and/or an overtubeor other component which is desired to be translated longitudinally.

FIGS. 38-42 illustrate an alternate embodiment of the instrumentmounting portion 558 showing another alternate example mechanism fortranslating rotation of the driven elements 564 into rotational motionabout the axis of the shaft 538. In FIGS. 38-42, the shaft 538 iscoupled to the remainder of the mounting portion 558 via a coupler 676and a bushing 678. A first gear 666 coupled to a rotatable body 612, afixed post 668 comprising first and second openings 672, first andsecond rotatable pins 674 coupled to the shaft assembly, and a cable 670(or rope). The cable is wrapped around the rotatable body 612. One endof the cable 670 is located through a top opening 672 of the fixed post668 and fixedly coupled to a top rotatable pin 674. Another end of thecable 670 is located through a bottom opening 672 of the fixed post 668and fixedly coupled to a bottom rotating pin 674. Such an arrangement isprovided for various reasons including maintaining compatibility withexisting robotic systems 1000 and/or where space may be limited.Accordingly, rotation of the rotatable body 612 causes the rotationabout the shaft assembly 538 in a CW and a CCW direction based on therotational direction of the rotatable body 612 (e.g., rotation of theshaft 538 itself). Accordingly, rotation of the rotatable body 612 abouta first axis is converted to rotation of the shaft assembly 538 about asecond axis, which is orthogonal to the first axis. As shown in FIGS.38-39, for example, a CW rotation of the rotatable body 612 results in aCW rotation of the shaft assembly 538 in the direction indicated by634CW. A CCW rotation of the rotatable body 612 results in a CCWrotation of the shaft assembly 538 in the direction indicated by 634CCW.Additional bearings may be provided between the rotatable bodies and thecorresponding gears. Any suitable bearings may be provided to supportand stabilize the mounting and reduce rotary friction of shaft andgears, for example.

FIGS. 43-46A illustrate an alternate embodiment of the instrumentmounting portion 558 showing an alternate example mechanism fordifferential translation of members along the axis of the shaft 538(e.g., for articulation). For example, as illustrated in FIGS. 43-46A,the instrument mounting portion 558 comprises a double cam mechanism 680to provide the shaft articulation functionality. In one exampleembodiment, the double cam mechanism 680 comprises first and second camportions 680A, 680B. First and second follower arms 682, 684 arepivotally coupled to corresponding pivot spools 686. As the rotatablebody 612 coupled to the double cam mechanism 680 rotates, the first camportion 680A acts on the first follower arm 682 and the second camportion 680B acts on the second follower arm 684. As the cam mechanism680 rotates the follower arms 682, 684 pivot about the pivot spools 686.The first follower arm 682 may be attached to a first member that is tobe differentially translated (e.g., the first articulation band 622).The second follower arm 684 is attached to a second member that is to bedifferentially translated (e.g., the second articulation band 624). Asthe top cam portion 680A acts on the first follower arm 682, the firstand second members are differentially translated. In the exampleembodiment where the first and second members are the respectivearticulation bands 622 and 624, the shaft assembly 538 articulates in aleft direction 620L. As the bottom cam portion 680B acts of the secondfollower arm 684, the shaft assembly 538 articulates in a rightdirection 620R. In some example embodiments, two separate bushings 688,690 are mounted beneath the respective first and second follower arms682, 684 to allow the rotation of the shaft without affecting thearticulating positions of the first and second follower arms 682, 684.For articulation motion, these bushings reciprocate with the first andsecond follower arms 682, 684 without affecting the rotary position ofthe jaw 902. FIG. 46A shows the bushings 688, 690 and the dual camassembly 680, including the first and second cam portions 680B, 680B,with the first and second follower arms 682, 684 removed to provide amore detailed and clearer view.

In various embodiments, the instrument mounting portion 558 mayadditionally comprise internal energy sources for driving electronicsand provided desired ultrasonic and/or RF frequency signals to surgicaltools. FIGS. 46B-46C illustrate one embodiment of a tool mountingportion 558′ comprising internal power and energy sources. For example,surgical instruments (e.g., instruments 522, 523) mounted utilizing thetool mounting portion 558′ need not be wired to an external generator orother power source. Instead, the functionality of the various generators20, 320 described herein may be implemented on board the mountingportion 558.

As illustrated in FIGS. 46B-46C, the instrument mounting portion 558′may comprise a distal portion 702. The distal portion 702 may comprisevarious mechanisms for coupling rotation of drive elements 612 to endeffectors of the various surgical instruments 522, 523, for example, asdescribed herein above. Proximal of the distal portion 702, theinstrument mounting portion 558′ comprises an internal direct current(DC) energy source and an internal drive and control circuit 704. In theillustrated embodiment, the energy source comprises a first and secondbattery 706, 708. In other respects, the tool mounting portion 558′ issimilar to the various embodiments of the tool mounting portion 558described herein above.

The control circuit 704 may operate in a manner similar to thatdescribed above with respect to generators 20, 320. For example, when anultrasonic instrument 522 is utilized, the control circuit 704 mayprovide an ultrasonic drive signal in a manner similar to that describedabove with respect to generator 20. Also, for example, when an RFinstrument 523 or ultrasonic instrument 522 capable of providing atherapeutic or non-therapeutic RF signal is used, the control circuit704 may provide an RF drive signal, for example, as described hereinabove with respect to the module 23 of generator 20 and/or the generator300. In some embodiments, the control circuit 704 may be configured in amanner similar to that of the control circuit 440 described herein abovewith respect to FIGS. 18B-18C.

Various embodiments described herein comprise an articulatable shaft.When using an articulatable shaft, components running through the shaftfrom the end effector must be flexible, so as to flex when the shaftarticulates. In various embodiments, this can be accomplished byutilizing waveguides that have flexible portions. For example, FIG. 47illustrates a schematic cross-sectional view of a portion of one exampleembodiment of an ultrasonic medical instrument 1500 comprising first,second and third waveguide portions. In FIG. 47, the hand piece and thesheath-articulation control knobs, etc. of the ultrasonic medicalinstrument 1500 are omitted for clarity. In the example embodiment shownin FIG. 47, the ultrasonic medical instrument 1500 comprises a medicalultrasonic waveguide 1502 for transmitting ultrasonic energy from atransducer (not shown in FIG. 47) to an ultrasonic blade 1544. Themedical ultrasonic waveguide 1502 has a length and includes first,second and third waveguide portions 1504, 1506 and 1508. The secondwaveguide portion 1506 is located lengthwise between the first and thirdwaveguide portions 1504 and 1508; the first waveguide portion 1504 islocated proximal the second waveguide portion 1506; and the thirdwaveguide portion 1508 is located distal the second waveguide portion1506. The first and third waveguide portions 1504 and 1508 each have alarger transverse area and the second waveguide portion 1506 has asmaller transverse area. The second waveguide portion 1506 is morebendable than either of the first and third waveguide portions 1504 and1508. It is further noted that ultrasonic vibration can be any one, orany combination, of longitudinal, transverse, and torsional vibration.In some embodiments, the section 1506 may have a circular cross-section(e.g., a uniform cross-sectional radius).

In some embodiments the second bendable waveguide portion 1506 may nothave a uniform cross-sectional radius. For example, FIG. 47A illustratescross sections for two example embodiments of the waveguide portion1506. The waveguide portion 1506′ is illustrated in relation to two axes1509, 1511, also shown in FIG. 47. In various embodiments, the waveguideportion 1506′ may have a cross sectional length along axis 1511 that isless than its cross sectional dimension along axis 1509. In someembodiments, the cross sectional length along the axis 1509 may be equalto the cross sectional length of the other waveguide portions 1504,1506. The waveguide portion 1506′ may be bendable along the axis 1509.Referring now to waveguide portion 1506″, its cross sectional lengthsalong the axis 1509, 1511 may be the same, providing the waveguideportion 1506″ with a greater range of directions for bending.

In some example embodiments, the medical ultrasonic waveguide 1502 is amonolithic (e.g., the blade portion 1544 is integral to the waveguide1502). Also, in some example embodiments, the medical ultrasonicwaveguide 1502 includes first and second longitudinal vibrationantinodes 1510 and 1512. The first waveguide portion 1504 may transitionto the second waveguide portion 1506 proximate the first longitudinalvibration antinode 1510; and the second waveguide portion 1506 maytransition to the third waveguide portion 1508 proximate the secondlongitudinal vibration antinode 1512. In some example embodiments, asillustrated by FIG. 47, the second waveguide portion 1506 issubstantially ½ of a resonant-longitudinal-wavelength long.

In one example application of the embodiment of FIG. 47, the ultrasonicmedical instrument 1500 also includes a user-actuated articulated sheath1514 which surrounds the medical ultrasonic waveguide 1502. In variousexample embodiments, the medical ultrasonic waveguide 1502 includesthree (meaning at least three) longitudinal vibration nodes 1516located, one each, on the first, second and third waveguide portions1504, 1506 and 1508. It is noted that one or more additionallongitudinal vibration nodes may, or may not, be present between any oneor two of the three longitudinal vibration nodes 1516. In onemodification, the sheath 1514 contacts (e.g., directly contacts orindirectly contacts through at least one intervening member 1517 such asa silicone intervening member) the first, second and third waveguideportions 1504, 1506 and 1508 at a corresponding one of the threelongitudinal vibration nodes 1516. In one example, the sheath 1514includes a rigid first sheath portion 1518 contacting the firstwaveguide portion 1504 at the first longitudinal vibration node (theleftmost node 1516 of FIG. 47), a flexible second sheath portion 1520contacting the second waveguide portion 1506 at the second longitudinalvibration node (the middle node 1516 of FIG. 47), and a rigid thirdsheath portion 1522 contacting the third waveguide portion 1508 at thethird longitudinal vibration node (the rightmost node 1516 of FIG. 47).In some example embodiments, the sheath 1514 has only two articulationpositions (e.g., straight and fully articulated). In other exampleembodiments, the sheath 1514 has a number of intermediate bent positionsbetween a straight position and a fully articulated position dependingon the number of energy efficient curves the waveguide 1502 can beformed to. In some example embodiments, such energy efficient curvesminimize vibrational energy going into non-longitudinal vibrationalmodes.

FIG. 48 illustrates a schematic cross-sectional view of a portion of oneexample embodiment of an ultrasonic medical instrument 1524 comprisingfirst and second waveguide portions 1530, 1532, where the firstwaveguide portion 1530 spans multiple ½ resonant longitudinalwavelengths. In the example embodiment show in FIG. 48, a medicalultrasonic waveguide 1526 includes at least two longitudinal vibrationnodes 1528 located on the first waveguide portion 1530. In onevariation, a sheath 1534 contacts (e.g., directly contacts or indirectlycontacts through at least one intervening member 1536 such as a siliconeintervening member) the first waveguide portion 1530 at the at-least-twolongitudinal vibration nodes 1528. In some example embodiments, thesheath 1534 includes two rigid sheath portions 1538 and 1542 and oneflexible sheath portion 1540, wherein the flexible sheath portion 1540contacts the first waveguide portion 1530 at least one of the twolongitudinal vibration nodes 1528, and wherein the flexible sheathportion 1540 is disposed between the two rigid sheath portions 1538 and1542. In one example embodiment, the two rigid sheath portions 1538 and1542 each contact the second waveguide portion 1532 at a correspondingone of the at-least-two longitudinal vibration nodes 1528.

Referring now to FIG. 47, the waveguide 1502 may comprise a bladeportion 1544 adapted to contact and ultrasonically treat patient tissue.The blade portion 1544 may be disposed at a distal end of the waveguide1502 (e.g., distal of the third blade portion 1508 of the blade 1502).In one example embodiment, the surgical instrument 1500 may alsocomprise a user-actuated clamp arm 1546 pivotally attached to the sheath1514, 1534 proximate the blade portion 1544, wherein the clamp arm 1546and the medical ultrasonic waveguide 1502 at least in part define anultrasonic surgical shears 1548. The tissue pad and clamping arm controlmechanism has been omitted from FIG. 47. Referring again to FIG. 48, themedical ultrasonic waveguide 1526 may also comprise a blade portion1545, similar to the blade portion 1544, and disposed at a distal end ofthe first waveguide portion 1532. The blade portion 1545 may also beadapted to contact and ultrasonically treat patient tissue. Theinstrument 1524 of FIG. 48 may also comprise a clamp arm 1546, defining,with the blade portion 1545, an ultrasonic surgical shears 1548.

In various example embodiments, certain portions of the waveguides 1502,1526 are substantially rigid. For example, first and third portions 1504and 1508 of the waveguide 1502 may be substantially rigid. The firstportion 1532 of the waveguide 1526 may be substantially rigid. Referringagain to FIG. 47, the medical ultrasonic waveguide 1502 may includefirst and second neck portions 1550 and 1552 joining, respectively, thefirst and second waveguide portions 1504 and 1506 and the second andthird waveguide portions 1506 and 1508. (A similar neck portion 1552 mayjoin the first and second waveguide portions 1530, 1532 of the waveguide1526.)

In one modification, the medical ultrasonic waveguide 1502 issubstantially cylindrical from the first waveguide portion 1504 to thethird waveguide portion 1508, wherein the first, second and thirdwaveguide portions 1504, 1506 and 1508 each have a substantiallyconstant diameter, and wherein the diameter of the second waveguideportion 1506 is smaller than the diameter of either of the first andthird waveguide portions 1504 and 1508. In some example embodiments, thediameter of the second waveguide portion 1506 is between substantiallyone and two millimeters, and the diameter of the first and thirdwaveguide portions is between substantially three and five millimeters.In one choice of materials, the medical ultrasonic waveguide 1502consists essentially of a titanium alloy. In one modification, themedical ultrasonic waveguide 1502 includes first and second longitudinalvibration antinodes 1510 and 1512, and the first neck portion 1550 isdisposed proximate the first longitudinal vibration antinode 1510 andthe second neck portion 1552 is disposed proximate the secondlongitudinal vibration antinode 1512.

FIG. 49 illustrates a schematic cross-sectional view of one exampleembodiment of an ultrasonic waveguide 1554 for use with a medicalinstrument and comprising first and second waveguide portions, where afirst waveguide portion 1556 is joined to a second waveguide portion1558 by a dowel press fit. In the example illustrated in FIG. 49, thesecond waveguide portion 1558 is also coupled to a third waveguideportion 1560 by a dowel press fit. In various example embodiments, thesecond waveguide portion 1558 consists essentially of titanium ornitinol. In the same or a different illustration, the length of thesecond waveguide portion 1558 is less than ½ wavelength (a wavelengthbeing the length of a resonant-longitudinal-wavelength of the medicalultrasonic waveguide which depends essentially on the material of thewaveguide and the frequency at which it is run) and in one example isless than ⅛ wave.

FIG. 50 illustrates a schematic cross-sectional view of one exampleembodiment of an ultrasonic waveguide 1564 for use with a medicalinstrument. Like the waveguide 1554, the waveguide 1564 is not amonolithic waveguide. The waveguide 1564 may comprise first and secondwaveguide portions 1564, 1566, where the first waveguide portion 1564 isjoined to the second waveguide 1566 portion by a ball-and-socket typeattachment. The second waveguide portion 1566 may also be joined to athird waveguide portion 1568 in any suitable manner. In the example ofFIG. 50, the second waveguide portion 1566 is joined to the thirdwaveguide portion 1568 via a dowel press fit. Other attachments betweenwaveguide portions are left to those skilled in the art.

FIG. 51 illustrates a schematic cross-sectional view of a portion ofanother embodiment of an ultrasonic medical instrument 1570 comprising amedical ultrasonic waveguide 1572 having a length and including aproximal waveguide portion 1574 and a distal waveguide portion 1576. Theproximal waveguide portion 1574 has a larger transverse area and thedistal waveguide portion 1576 has a smaller transverse area. The distalwaveguide portion 1576 bends more easily than does the proximalwaveguide portion 1574. The distal waveguide portion 1576 includes adistal end portion 1580 adapted to contact and ultrasonically treatpatient tissue. In various example embodiments, the additional ½ waveneeded to neck up and create the larger diameter end effector of theembodiment of FIG. 47 is eliminated making it possible to place thearticulation joint closer to the distal end of the ultrasonic medicalinstrument 1570. The embodiments, applications, etc. shown in FIGS.47-50 are equally applicable (without the presence of the thirdwaveguide portion) to the embodiment of FIG. 51.

FIG. 52 illustrates one embodiment of an instrument mounting portion1000 for use with a robotic surgical system, such as the system 300,comprising a magnetic element-driven control mechanism. The instrumentmounting portion 1000 may interface with a robotic surgical system, forexample, in a manner similar to that described above with respect to theinstrument mounting portion 558. The instrument mounting portion 1000may comprise a housing 1001. A shaft 1003 may extend distally form thehousing 1001. A distal portion of the shaft 1003 may comprise an endeffector for treating tissue. The end effector (not shown) may besimilar to any of the end effectors described herein including, forexample, the end effector assembly 26, end effector 18, end effector278, end effector 326, end effector 110, etc.

The housing 1001 may contain one or more magnetic elements 1002, 1004,1006, 1008, 1010, 1012. The magnetic elements, for example, may bemagnetic elements configured to generate linear motion such as, forexample, solenoids, voice coil motors, etc. Each of the magneticelements 1002, 1004, 1006, 1008, 1010, 1012 may be fixedly secured to aninner wall or other portion of the housing 1001 or to another componentwithin the housing 1001. Each of the magnetic elements 1002, 1004, 1006,1008, 1010, 1012 may comprise a plunger or piston 1015 that mayalternately extend from and be retracted within the respective magneticelements based on whether the elements are energized.

As illustrated in FIG. 52, the plungers 1015 of the various magneticelements 1002, 1004, 1006, 1008 are fixedly secured to an inner wall ofthe housing 1001. Accordingly, upon energizing and de-energizing, therespective elements may be pulled towards the inner wall and pushed awayfrom the inner wall. Compression springs 1014 may be positioned aroundthe plungers 1015 to resist motion of the plungers 1015. For example,upon energizing, the respective plungers 1015 may be forced out of therespective magnetic elements. The compression springs 1014 may resistthis motion such that when the respective magnetic elements arede-energized, the plungers are pushed (by the springs 1014) back intothe respective magnetic elements. Also, in some embodiments, thepositioning of the springs 1014 and operation of the plungers 1015 arereversed. For example, the plungers 1015 may be pulled within therespective elements on energizing. Springs 1014 may resist the motion ofthe plungers 1015 and pull the plungers back to an extended positionupon de-energizing.

Opposite the compression spring 1014 and plunger 1015, each magneticelement may be coupled to respective control cables 1016, 1018, 1020,1022, 1024, 1026. In FIG. 52, element 1002 is coupled to cable 1016;element 1004 is coupled to cable 1018; element 1006 is coupled to cable1020, element 1008 is coupled to cable 1022; element 1010 is coupled tocable 1024 and element 1012 is coupled to cable 1026. The control cablesmay extend distally through the shaft to the distal portion of the shaft1003, an end effector (not shown), etc. In some embodiments, theinstallation of the magnetic elements 1002, 1004, 1006, 1008, 1010, 1012may be reversed. For example, the respective elements may be fixedlycoupled to the housing 1001 or other mechanism while the respectiveplungers 1015 are coupled to control cables 1016, 1018, 1020, 1022,1024, 1026.

Distal and proximal translation of the respective cables may causevarious mechanical motion in the instrument. For example, differentialmotion of two or more cables and/or distal and proximal translation of asingle cable or cables may bring about articulation of an end effector,a distal cable portion, etc., as described herein above. For example,some or all of the control cables may operate in a manner similar to thearticulation bands 622, 624 described above. Also, for example, some orall of the control cables may be utilized to actuate a jaw or clamp armmember, as described herein above. Additional examples of articulation,end effector and other instrument portions that may be controlled by thecontrol cables are provided in concurrently filed and commonly ownedU.S. Patent Applications Serial Nos. incorporated herein by reference atthe section entitled CROSS-REFERENCE TO RELATED APPLICATIONS.

Each magnetic element 1002, 1004, 1006, 1008, 1010, 1012 may beindividually energizable. In some embodiments, when a magnetic elementis energized, it is pulled towards the inner wall of the housing 1001,compressing its corresponding compression spring 1014 and pulling itscorresponding cable proximally through the shaft 1003. For example,energizing the respective elements may pull the respective plungers 1015into the elements. When the magnetic element is de-energized, the forcepulling it towards the inner wall of the housing 1001 may be relaxed,allowing slack in the corresponding cable. Also, for example, respectivecompression springs 1014 may push the respective elements away from theinner wall of the housing 1001.

The magnetic elements 1002, 1004, 1006, 1008, 1010, 1012 may be actuatedby rotable bodies 1005, 1007. The rotatable bodies 1005, 1007 mayoperate in a manner similar to that described above with respect to therotatable bodies 612. For example, the rotatable bodies 1005, 1007 maybe driven, for example, by the drive pins under the control of therobotic surgical system, such as the drive pins 586 shown in FIG. 26 anddescribed herein above. The respective rotatable bodies 1005, 1007 maybe coupled to a mounting member 1028. Each mounting member 1028 may becoupled to one or more actuation members 1030, 1032, 1034, 1036, 1038,1040 extending from respective mounting members 1028 to switches 1042,1044, 1046, 1048, 1050, 1052 of the respective magnetic elements.Rotation of the rotatable bodies 1005, 1007 may alternately place distaland proximal forces on the actuation members 1030, 1032, 1034, 1036,1038, 1040 causing the switches on the respective magnetic elements totransition between “on” (element is energized) and “off” (element is notenergized) positions.

FIGS. 53A-G illustrate one embodiment of the rotatable body 1005 andmagnetic elements 1002, 1004, 1006 of the instrument mounting portion1000, with the rotatable body 1005 at various angular positions toenergize and/or de-energize combinations of the magnetic elements 1002,1004, 1006. In FIG. 53A, the rotatable body 1005 is shown rotatedcounter clockwise such that actuation members 1030, 1032, 1034 are allpulled proximally, pulling switches 1042, 1044, 1046 proximally, andde-energizing elements 1002, 1004, 1006. In FIG. 53B, the rotatable body1005 is rotated slightly clockwise from the position shown in FIG. 53A.Actuation member 1034 is pushed distally to transition switch 1042 andenergize element 1002. Elements 1004 and 1006 are still de-energized. InFIG. 53C, the rotatable body 1005 is rotated further clockwise.Actuation member 1032 is not also pushed distally to transition switch1042 and energy element 1004. Element 1006 is still de-energized. InFIG. 53D, further clockwise rotation of the rotatable body 1005 pushescontrol member 1030 distally to transition switch 1046. Accordingly, allof the elements 1002, 1004, 1006 are energized. In FIG. 53E, furtherclockwise rotation of the rotatable body 1005 begins to pull theactuation member 1034 proximally, transitioning switch 1042 tode-energize the element 1002. Elements 1004, 1006 are still energized.In FIG. 53F, further clockwise rotation of the rotatable body 1005begins to pull the actuation member 1032 proximally, transitioningswitch 1044 to de-energize element 1004. Element 1006 is stillenergized. In FIG. 53G, further clockwise rotation of the rotatable body1005 pulls the control member 1030 distally to transition switch 1046and de-energize the element 1006. All elements 1002, 1004, 1006 arede-energized in FIG. 53G.

It will be appreciated that the examples provided in FIGS. 53A-G aremerely examples of how the rotatable body 1005 may serve to energize andde-energize the various elements 1002, 1004, 1006. In some embodiments,the rotatable body 1007 may operate in a similar manner to actuate theelements 1008, 1010, 1012. Also, in some embodiments, the positions ofthe switches 1042, 1044, 1046 illustrated in FIGS. 53A-G may bereversed, this reversing the described state of each element 1002, 1004,1006 at each position.

FIG. 54 illustrates another embodiment of an instrument mounting portion1060 for use with a robotic surgical system, such as the system 500,comprising a magnetic element-driven control mechanism. In FIG. 53,actuation of magnetic elements 1062, 1064, 1066, 1068 may be initiatedby an electronic signal provided to the respective magnetic elements1062, 1064, 1066, 1068, for example, via a control line of the roboticsurgical system 500. In some embodiments, control signals may beprovided to the magnetic elements via compression springs 1063. Magneticelements 1062, 1064, 1066, 1068 may operate in a manner similar to themagnetic elements of the instrument mounting portion 1000 describedabove. For example, when energized, the magnetic elements 1062, 1064,1066, 1068 may retract respective plungers 1065 within the elements1062, 1064, 1066, 1068, thus pulling the elements towards the interiorwall of the housing 1001, compressing compression springs 1063 andpulling respective cables 1070, 1072, 1074, 1076 proximally. Theelements 1062, 1064, 1066, 1068, however, may be configured and/ormounted in any suitable configuration, however.

In some embodiments, the magnetic elements 1062, 1064, 1066, 1068 mayutilize compression springs 1063 to exercise increased control over thepositions of the respective cables 1070, 1072, 1074, 1076. For example,as described herein, the magnetic elements 1062, 1064, 1066, 1068 may bedriven by electric signals provided by the robotic surgical system 500.The signal, for example, may provide an electric current to a coil orother electromagnetic element that may, in turn, exert anelectromagnetic force on the respective plungers 1065. The magnitude ofthe current may control the magnitude of the force exerted on theplungers 1065. It will be appreciated that the compression (ordisplacement) of the springs 1063 may be proportional to the forceprovided by the respective magnetic elements. Accordingly, thedisplacement of the plungers 1063 and, therefore, the distal and/orproximal position of the control cables 1076, 1074, 1072, 1070 may becontrolled based on the magnitude of the current (or other controlsignal) provided to the respective magnetic elements.

In the configuration illustrated in FIG. 54, cables 1070, 1072, 1074extend distally through the shaft 1003, for example, to control anarticulation joint, end effector, etc. Control cable 1076 may be routedby a pulley 1078 and may be positioned around a proximal portion 1080 ofthe shaft. When the magnetic element 1068 is energized, the cable 1076may be pulled proximally. When routed by the pulley, this may unwrap thecable 1076 from the proximal portion 1080 of the shaft, causing theshaft 1003 to rotate in the direction indicated by arrow 1082.

FIG. 55 illustrates yet another embodiment of an instrument mountingportion 1084 for use with a robotic surgical system 500 comprising amagnetic element-driven control mechanism and a spool-driven controlmechanism. In FIG. 55, solenoids 1090, 1092 may be coupled to controlcables 1096 and 1098 and may operate in a manner similar to thatdescribed above with respect to elements 1062, 1064, 1066. Additionally,rotatable bodies 1086, 1088 may define spools for receiving cables 1094,1099 such that rotation of the rotatable bodies 1086, 1088 causeswinding and unwinding of the respective control cables 1096, 1099,resulting in proximal and distal translation of the same.

FIGS. 56-57 illustrate one embodiment of an instrument mounting portion1100 for use with a robotic surgical system, such as the system 500,comprising a translatable cable 1110 driven by a pair of rotatablebodies 1102, 1104. An elastic band 1112 may be coupled to fixedpositions on each of the rotatable bodies 1102, 1104. For example, theelastic band 1112 may be coupled to respective pegs 1106, 1108 mountedon the rotatable bodies 1104, 1102. The elastic band 1112 may be madefrom any suitable material including, for example rubber or any othersuitable elastomer. The translatable cable 1110 may be coupled to theelastic band 1112. As the rotatable bodies 1104 rotate, the pegs 1106,1108 may translate proximally and distally and also from top to bottomacross the housing 1001 of the instrument mounting portion 1100. Theelastic nature of the band 1112 may cancel the up and down motion of thepegs 1106, 1108 while the distal and proximal motion may be translatedto the cable 1110. Thus, the cable 1110 may also translate proximallyand distally in the shaft 1003.

FIG. 58 illustrates another embodiment of an instrument mounting portion1114 for use with a robotic surgical system, such as the system of 500,comprising a translatable cable 1124 driven by a pair of rotatablebodies 1116, 1118. The cable 1124 is coupled to an interior wall of thehousing 1001 at a mounting point 1124. Posts or pulleys 1120, 1122 arepositioned on respective rotatable bodies 1116, 1118. The cable 1124 isrouted around the pulleys 1120, 1122 and extends distally through theshaft 1003. As the rotatable bodies 1116, 1118 rotate, the pulleys 1120,1122 translate distally and proximally as well as up and down as shownin FIG. 58. This translation may cause the cable 1124 to translateproximally and distally within the shaft 1003. For example, in theembodiment shown in FIG. 58, up and down translation of the pulleys1120, 1122 may alternately create tension and slack in the cable 1124,accentuating its distal and proximal translation.

FIGS. 59-62 illustrate one embodiment of an articulation mechanism 1130that may be utilized by manual and/or robotic surgical instruments toarticulate an end effector. In various embodiments, the mechanism 1130may be utilized with an ultrasonic instrument, for example, asillustrated in FIG. 59. In FIG. 59, a proximal end (not shown) of awaveguide 1136 may be coupled to an ultrasonic transducer (not shown) asthe waveguide 78 is coupled to the ultrasonic transducer 16 describedabove. The waveguide 1136 may also comprise a bendable portion 1138similar to the bendable portions including 1506 described above withrespect to FIGS. 47-51. The bendable portion 1138 may be positioned atan articulation joint within a shaft of the instrument, for example,similar to the articulation joint 556 described herein above.

The mechanism 1130 may comprise first and second helical cables 1132,1134. The cables 1132, 1134, for example, may be constructed from ahelically wound wire. The helical cables 1132, 1134 may be coupled to adistal plate 1140. The distal plate 1140 may be coupled to an endeffector and/or distal shaft portion of the instrument. In someembodiments, the distal plate 1140 is coupled to the waveguide 1136, asshown in FIG. 59. For example, the distal plate 1140 may be coupled to anode of the waveguide 1136. The helical cables 1132, 1134 may extendproximally where they may engage with a gear 1141. Respective plates1142 may be positioned around the gear 1141 such that the cable 1132passes between the gear 1141 and the plate 1142 and cable 1134 passesbetween the gear and the plate 1144. Teeth of the gear 1141 mayinterface with the helical cables 1132, 1134 such that clockwiserotation of the gear causes proximal translation of the cable 1134 anddistal translation of the cable 1132. This, in turn, may pull the plate1140 proximally towards the cable 1134, causing articulation. Similarly,counter-clockwise rotation of the gear 1141 may pull the cable 1132proximally and push the cable 1134 distally. This may cause the plate1140 to pivot towards the cable 1132 causing articulation opposite thatwhen the gear 1141 rotates clockwise.

Rotation of the gear 1141 may be brought about in any suitable manner.For example, FIGS. 60 and 61 illustrate the mechanism 1130 for use in ahand held or manual instrument 1148. Referring to FIG. 61, a manualinstrument 1148 may comprise an articulation lever 1152. Thearticulation lever 1152 may be coupled to the gear 1141, as illustratedin FIG. 60, such that rotation of the articulation lever 1152 causescorresponding articulation of the gear 1151. Rotation of the gear 1141,and resulting differential translation of the helical cables 1132, 1134may cause articulation of the end effector 1154 about an articulationjoint 1146. FIG. 62 illustrates one embodiment of an instrument mountingportion 1156 comprising the mechanism 1130. For example, the gear 1141may be coupled to a rotatable body 612. Cables 1132, 1134 may be routedto extend distally through the shaft 1003.

FIGS. 63A-B illustrate one embodiment of an articulation mechanism 1150that may be utilized with any suitable control mechanism, includingthose described above with respect to FIGS. 52-58. The mechanism 1150 isshown in the context of an end effector 1152 and a shaft portion 1154separated by a flexible articulation joint 1170. The end effector 1152may be any suitable type of ultrasonic, electrosurgical or combined endeffector, as described herein. A plate 1156 may be positioned distallyfrom the articulation joint 1170 and may be coupled to a plurality ofcontrol cables 1158, 1160, 1162, 1164, 1166, 1168. In some embodiments,the control cables 1158, 1160, 1162, 1164, 1166, 1168 may be coupled toand/or the distal ends of control cables 1016, 1018, 1020, 1022, 1024,1026 described herein above. In some embodiments, the plate defines anopening 1172 for receiving wires, waveguides, etc. for operation of theend effector 1152.

The end effector 1152 and shaft portion 1154 may be articulated relativeto one another by differential translation of the control cables 1158,1160, 1162, 1164, 1166, 1168. For example, proximal translation of acontrol cable may cause the portion of the plate 1156 coupled to thecontrol cable to be pulled proximally. The number and position ofcontrol cables 1158, 1160, 1162, 1164, 1166, 1168 that are pulledproximally may determine the direction in which the end effector 1152 isarticulated. Although six cables are illustrated in FIGS. 63A-B, it willbe appreciated that any suitable number of cables may be used. Forexample, FIGS. 64-65 illustrate embodiments of the plate 1156 configuredfor use with three and four cables, respectively. For example, the plate1156, as illustrated in FIG. 64 comprises mounting points 1174 for threecables while the plate 1156, as illustrated in FIG. 65, comprisesmounting points for four cables.

FIGS. 66-67 illustrate one embodiment of a shaft portion 1180 of asurgical instrument utilizing an articulation mechanism similar to themechanism 1130 described herein above. The shaft portion 1180 maycomprise four articulation control cables 1190, 1192, 1194, 1196. Thearticulation control cables 1190, 1192, 1194, 1196 may be coupled toeither an end effector 1182 or a distal shaft portion and may extendproximally to a handle and/or robotic instrument mounting portion. Thecables 1190, 1192, 1194, 1196 may be distally and proximally translatedin any suitable manner including, for example, utilizing the mechanismsdescribed herein above with respect to FIGS. 52-58 and 60-61.

In various embodiments, the shaft portion 1180 may comprise an endeffector 1182 comprising an ultrasonic blade 1197. The ultrasonic blade1197 may be coupled to a distally mounted ultrasonic transducer assembly1184. An articulation joint 1186 may coupled the end effector 1182 tothe shaft 1188. The articulation joint 1186 may be made from any type offlexible material and/or may comprise a hinge (not shown). Thearticulation control cables 1190, 1192, 1194, 1196 may be coupled to anyportion of the shaft portion 1180 distal of all or a part of thearticulation joint 1186. For example, a plate 1198 (similar to the plate1156 of FIG. 65) may be mounted as illustrated and may be coupled to therespective control cables 1190, 1192, 1194, 1196. A clamp arm controlcable 1199 may be positioned to manipulate a clamp arm 1195 that may beactuated in a manner similar to that described above with respect toFIGS. 2-7.

It will be appreciated that proximal translation of the respectivecables 1190, 1192, 1194, 1196 may articulate the end effector 1182 indifferent directions. For example, proximal translation of the cable1194 may pull the end effector 1182 towards the cable 1194, asillustrated in FIG. 67. Likewise, proximal translation of any of theother cables 1190, 1192, 1196 may pull the end effector 1182 towards theproximally translated cable. FIG. 66 illustrates four example directionsof articulation with the UP direction corresponding to proximaltranslation of the cable 1194, the DOWN direction corresponding toproximal translation of the cable 1190, the LEFT direction correspondingto proximal translation of the cable 1196 and the RIGHT directioncorresponding to proximal translation of the cable 1192. In variousembodiments, the end effector 1182 of FIGS. 66-67 may be articulated indirections other than the four indicated by the UP, DOWN, LEFT and RIGHTarrows, for example, by proximally translating more than one of thecables 1190, 1192, 1194, 1196. Also, the degree of proximal translationof any given cable 1190, 1192, 1194, 1196 may affect the degree ofarticulation toward the cable, with more proximal translationcorresponding to more sever bending at the articulation joint 1186.

FIG. 68 illustrates one embodiment of a surgical instrument 1200 for usewith a robotic surgical system, such as the system 500, comprising atranslatable end effector 1202. The instrument may comprise aninstrument mounting portion 1204 comprising a housing 1001. A shaft 1003may extend from the instrument mounting portion 1204. The instrumentmounting portion 1204 is shown coupled to a robotic arm 1214 comprisinga trocar 1216. The trocar 1216 is illustrated deployed within a patient1218. The shaft 1003 and end effector 1202 extend through the trocar1216 to access tissue of the patient 1218.

The instrument 1200 illustrated in FIG. 68 may be an ultrasonicinstrument. For example, the end effector 1202 may comprise anultrasonic blade 1220 and optional clamp arm 1222, for example, in themanner described herein above. The ultrasonic blade 1220 may be coupledto a waveguide 1212 that may extend proximally to be acousticallycoupled to an ultrasonic transducer 1208. In one embodiment, thetransducer 1208, waveguide 1212, shaft 1003 and end effector 1202 arecoupled to one another and are translatable relative to the instrumentmounting portion 1204 along the direction of a longitudinal axis. Forexample, a proximal shaft portion 1211 may comprise an exterior rackgear 1210. The rack gear 1210 may be coupled to a gear 1206. The gear1206 may be coupled to a rotatable body 612 of the instrument mountingportion 1204 to rotate the gear. When the gear 1206 rotates, it mayinterface with the rack gear 1210 to alternately translate the shaft1003, transducer 1208, end effector 1202 and waveguide 1212 distally andproximally, for example, as indicated by arrow 1224.

FIG. 69A illustrates one embodiment of an articulatable shaft portion1230 that may be used in conjunction with a surgical instrument. Theshaft portion 1230 comprises a proximal tube 1232, a distal tube 1234and a flexible portion 1233. FIG. 69B illustrates an additional view ofone embodiment of the flexible articulation joint section 1233 of theshaft portion 1230. An end effector 1236 may be coupled to a distalportion of the distal tube 1234. The end effector 1236 may be anysuitable type of ultrasonic, electrosurgical or combined end effector,as described herein. In various embodiments, wires, waveguides,actuation members such as axially movable member 378, etc. may pass tothe end effector 1236 within the tubes 1232, 1234 and flexible portion1233.

Articulation cables 1254 and 1256 may extend through the proximal tube1232, distal tube 1234 and articulation portion 1233. The cables 1254,1256 may be made of any suitable material and, in some embodiments, maycomprise braided steel or other metal. The proximal tube 1232 may definefirst and second channels 1238, 1240 for receiving the articulationcables 1254, 1256. The articulation portion 1233 may definecorresponding channels 1242, 1242. Likewise the distal tube 1234 maydefine corresponding channels 1246, 1248. The articulation cables 1254,1256 may extend through the respective channels. For example, cable 1254may extend through channels 1238, 1242 and 1246. Cable 1256 may extendthrough channels 1240, 1244 and 1248. In various embodiments, cables1254, 1256 may be coupled to the distal tube 1234 and/or end effector1236 in any suitable manner. For example, the cables 1254, 1256 may bewelded to the distal tube 1234 and/or end effector 1236. Also, in someembodiments, channels 1246, 1248 extend completely through the distaltube 1234 such that cables 1254, 1256 extend beyond the distal tube1234. The cables 1254, 1256 may terminate with crimp balls 1250, 1252 orother features having a diameter larger than the diameter of thechannels 1246, 1248.

The components of the shaft portion 1230 may be constructed in anysuitable manner. In some embodiments, the components of the shaftportion 1230 may be formed from rolled flat stock with the respectivechannels comprising coil pipes or other tubes welded to the flat stock.For example, FIG. 70 illustrates one embodiment of a piece of flat stock1260 with a pair of coil pipes 1262, 1264 welded thereto. The flat stock1260 may be any suitable flexible material that can ultimately be usedto construct the proximal tube 1232 or distal tube 1234 of the shaftportion 1230. For example, the flat stock 1260 may be made of steel. Thecoil pipes 1262, 1262 may be welded to the flat stock, as shown. Invarious embodiments, any suitable tubular structure may be used in placeof coil pipes. FIG. 71 illustrates one embodiment of the flat stock 1260rolled into a tube shape. A seam 1266 may be fastened using any suitablemethod including, for example a weld. The rolled stock 1260, asillustrated in FIG. 71, may form all or a part of the proximal tube1232, the distal tube 1234 and/or the flexible articulation portion 1233of FIG. 69A.

Referring now to FIG. 69B, the flexible articulation section 1233 mayalso be constructed in any suitable manner. For example, the flexiblearticulation section 1233 may be constructed from a elastomericmaterial, such as rubber, allowing it to flex as described. Also, insome embodiments, the flexible articulation section 1233 may be madefrom a metal formed into an accordion-like shape, as illustrated in FIG.69B, so as to allow flexibility.

Referring again to FIG. 69A, articulation of the end effector 1236 anddistal tube 1234 may be brought about by differential translation of thearticulation cables 1254, 1256. For example, proximal translation of thecable 1254 may cause articulation at the flexible articulation portion1233, pulling the end effector 1236 and distal tube 1234 proximallytoward the cable 1254. Similarly, proximal translation of the cable 1256may cause articulation at the flexible articulation portion 1233,pulling the end effector 1236 and distal tube 1234 proximally toward thecable 1256. In some embodiments, when one of the cables 1254, 1256 ispulled proximally, the other cable may be extended distally. Thepresence of the channels 1238, 1240, 1242, 1244, 1246, 1248 may, in someembodiments, prevent the cables 1254, 1256 from binding as the cablesare pushed distally.

The cables 1254, 1256 may be differentially translated in any suitablemanner. For example, FIG. 72 illustrates one embodiment of an instrumentmounting portion 1266 that may be utilized to effect differentialtranslation of the cables 1254, 1256. Cables 1256, 1254 may be routed bypulleys 1270, 1272 to a spool 1268 mounting on a rotatable body 612 ofthe instrument mounting portion 1266. In some embodiments, cables 1254,1256 may be ends of a common cable wound around the spool 1268. Rotationof the spool 1268 may alternately cause distal and proximal translationof the cables 1254, 1256. Differential translation of the cables 1254,1256 may also be effected, for example, as described above with respectto FIGS. 25-46B. In some embodiments, the shaft portion 1230 may beutilized in conjunction with a hand held or manual instrument. In suchembodiments, a spool, such as spool 1268 may be actuated by a lever,such as the lever 1152 shown in FIGS. 60-61.

FIG. 73 illustrates one embodiment of an instrument mounting portion1270 comprising a battery assembly 1272 for powering the at least oneenergy element (e.g., ultrasonic and/or electrosurgical). In theconfiguration shown in FIG. 73, the instrument mounting portion 1270 iscoupled to an ultrasonic transducer 1274 for use with an ultrasonicblade (not shown). Some robotic surgical systems provide instrumentmounting portions, such as 1270 with limited power (e.g., 12 volts).Often the power provided is not sufficient to power energy elements suchas ultrasonic transducers/blades, electrosurgical elements, etc., thatmay be utilized with instrument end effectors to treat tissues.Accordingly, instrument mounting portions for instruments utilizingenergy elements often require exterior power sources, such as exteriorcables. The instrument mounting portion 1270 comprises the batteryassembly 1272 for powering at least one energy element. The batteryassembly 1272 may comprise any suitable type of battery cell or cellsincluding, for example, a lithium-ion cell.

In some embodiments, the battery assembly 1272 may be charged utilizingan inductive coil 1276. The inductive coil 1276 is shown wrapped aroundthe transducer 1274 but may be placed in any suitable location. The coil1276 may be coupled to the battery assembly by leads 1273, 1275. Asecond inductive coil 1278 is displayed installed on the transducer 1274next to the first coil 1276. The second coil 1276 may be electricallycoupled to a power source, such as a wall outlet, and may provide apower signal for inductively charging the battery assembly 1272 via thefirst coil 1276. In some embodiments, the power source may be locatedwithin the robotic surgical system such as, for example, in an arm ofthe robot. Also, in some embodiments, the power source within the robotmay be electrically connected to charge the battery when the roboticsurgical system is not in use and connected to charge the battery whenthe robotic surgical system is in use.

FIG. 74 illustrates one embodiment of the instrument mounting portion1270 further comprising a generator circuit 1271. The generator circuit1271 may operate in a manner similar to that described above withrespect to generators 20, 320 to drive an energy element, for example,with power from the battery assembly 1272. For example, when anultrasonic instrument 522 is utilized, the generator circuit 1271 mayprovide an ultrasonic drive signal in a manner similar to that describedabove with respect to generator 20. Also, for example, when an RFinstrument 523 or ultrasonic instrument 522 capable of providing atherapeutic or non-therapeutic RF signal is used, the generator circuit1271 may provide an RF drive signal, for example, as described hereinabove with respect to the module 23 of generator 20 and/or the generator320. In some embodiments, the generator circuit 1271 may be configuredin a manner similar to that of the control circuit 440 described hereinabove with respect to FIGS. 18B-18C. In some embodiments, the generatorcircuit 1271 and/or battery assembly 1272 may comprise a sensor forsensing a charge of the battery assembly 1272. The sensor may be anysuitable type of sensor. In some embodiments, the sensor comprises aresistor configured such that a voltage drop across the resistorindicates a voltage provided by the battery assembly 1272. The sensormay be in communication with a communications bus (not shown) of therobotic surgical system 500 such that a state of the battery assembly1272 may be derived by the robotic surgical system and displayed to theclinician (e.g., via display 521).

FIG. 75 illustrates one embodiment of an instrument mounting portion1280 with a cord-based generator circuit 1284. The cord 1282 may beelectrically coupled to the instrument mounting portion 1280, forexample, to provide suitable power to power an energy element fortreating tissue. The generator circuit 1284 may operate in a mannersimilar to that of the generator circuit 1271 described herein above.Instead of being within the instrument mounting portion 1280, however,the generator circuit 1284 may be positioned in series with the cord1282.

FIG. 76 illustrates one embodiment of an instrument mounting portion1286 comprising a removable battery assembly 1290. The battery assembly1290 may power one or more energy elements positioned at an end effector1288. The battery assembly 1290 may comprise any suitable battery cellor cells, for example, as described above with respect to the batteryassembly 1272. The assembly 1290 may be received within an exteriorsocket 1292 in the housing 1001 of the instrument mounting portion 1286.When the battery assembly 1290 requires re-charging, it may be removedfrom the exterior socket 1292 and charged. In some embodiments, thebattery assembly 1290 and/or the housing 1001 may further comprise agenerator circuit, such as the generator circuit 1271.

FIG. 77 illustrates one embodiment of a surgical system 1294 with awireless foot pedal 1296 for actuating an energy element. The system1294 may also comprise an instrument mounting portion 1293 coupled to ashaft comprising an end effector 1295. The end effector 1295 maycomprise at least one energy element for treating tissue. The foot pedal1296 may be coupled to a transmitter 1298. The transmitter 1298 may beexternal to the pedal 1296 as shown, or may be embodied as a circuitand/or antenna within the foot pedal 1296 itself. When the pedal 1296 isactuated (e.g., by clinician's foot 1291) the transmitter 1298 may emita signal that may be received by a receiver 1297 positioned in or incommunication with the instrument mounting portion 1293 or othercomponent of the robotic surgical system (e.g., 500). Upon receipt ofthe signal, the instrument mounting portion 1293 or other component ofthe robotic surgical system may energize an energy element of the endeffector 1295.

FIGS. 78-83 illustrate one embodiment of a passive articulationmechanism for use with a robotic surgical system and/or manual surgicalinstrument. FIG. 78 illustrates one embodiment of a shaft portion 1300.The shaft portion 1300 comprises a distal end 1301 that may be directlyor indirectly coupled to an end effector for treating tissue (not shown)such as one of the end effectors described herein. A proximal shaftportion 1314 may extend proximally and may be coupled to an instrumentmounting portion or handle (not shown). Member 1310 represents variousconnections that may be made between the end effector and handle orinstrument mounting portion. Such connections may include, for example,a waveguide for acoustically coupling a transducer and an ultrasonicblade, wires for providing drive signals to one or more electrosurgicalelectrodes, etc.

An articulation joint 1302 may comprise a plurality of interfacing jointmembers 1304. The joint members 1304 may be configured to slide over oneanother to change the orientation of the articulation joint 1302. FIG.79 shows an example of a flexible boot 1305 that may be positioned overthe articulation joint 1302. The boot 1305 may flex with thearticulation joint 1302. In various embodiments, the boot 1305 mayprevent individual joint members 1304 from sliding too far relative toone another. Also, in some embodiments, the boot 1305 may contain oil oranother lubricant for allowing the joint members 1304 to slide relativeto one another.

In some embodiments, as shown in FIG. 80, some or all of the jointmembers 1304 define distally-facing concave faces and proximally-facingconvex faces. Accordingly, adjacent joint members may slide over oneanother to articulate the joint 1302, as shown in FIG. 80. Articulationcables 1306, 1308 may extend through the proximal shaft portion 1314 andjoint members 1302. For example, each joint member may define channels1312 for receiving the cables 1306, 1308. In various embodiments, thearticulation joint 1302 is a passive articulation joint. For example,when the cables 1306, 1308 are loosened or have slack, the clinician mayarticulate the joint 1302, either with his or her hand or by pushing theend effector (not shown) or distal shaft portion 1307 against tissue ata surgical site. This may cause the joint members 1304 to slide over oneanother as shown in FIG. 80. When the cables 1306, 1308 are tightened,the joint members 1304 may not be free to slide over one another, thuslocking the joint 1302 in place. For example, the joint 1302 may belocked in an articulated position, as shown in FIG. 78, or in a straightposition, as shown in FIG. 80.

FIGS. 81-82 illustrate one embodiment of a mechanism 1329 foralternately loosening and tightening the cables 1306, 1308 so as toalternately allow and prevent articulation at the joint 1302. Themechanism 1329 may be positioned, for example, at a handle and/orinstrument mounting portion. For example, the cables 1306, 1308 mayextend proximally through the proximal shaft portion 1314 and between arotor 1320 and a pair of posts 1322, 1324. The rotor 1320 may compriseconvex faces 1330 and concave faces 1332. When the rotor 1320 is rotatedsuch that its concave faces 1332 face the posts 1322, 1324, the cables1306, 1308 may be free to slide freely between the rotor 1320 and therespective posts 1322, 1324. The rotor 1320 may also be rotated to theposition shown in FIG. 82, however, where a portion of the rotor 1320(e.g., the convex portion 1330 and/or an edge of the concave portion1332) pinches the respective cables 1306, 1308 between the rotor 1320and respective posts 1322, 1322. In this position, no slack in thecables 1306, 1308 may be available, thus locking the position of thearticulation joint 1302.

FIG. 83 illustrates one embodiment of an instrument mounting portion1340 that may contain the mechanism 1329. For example, the rotor 1320may be mounted on a rotatable body 612 to be controlled by the roboticsurgical system, as described herein. Cables 1306, 1308 may terminate,for example, against the housing 1001 at termination points 1342, 1344as shown. The termination points 1342, 1344 may be positioned at anysuitable location. For example, the termination points 1342, 1344 may bepositioned against the housing 1001, as shown, or against any othermechanism or component of the instrument mounting portion 1340. In someembodiments, the cables 1306, 1308 and/or distal portions thereof maycomprise respective springs or elastic portions 1346, 1348. The elasticportions 1346, 1348 may allow the cables 1306, 1308 to extend distally,for example, when the articulation joint 1302 is in an articulatedposition.

Non-Limiting Embodiments

Various embodiments are directed to surgical instruments for use inhandheld applications or with robotic surgical systems. The surgicalinstruments may comprise an end effector to treat tissue and a shaftextending proximally from the end effector along a longitudinal axis. Invarious embodiments, a surgical instrument may further comprise awaveguide extending proximally from an ultrasonic blade through theshaft. The waveguide may define a bendable portion at about the flexiblearticulation joint. A first plate may be positioned distally from theflexible articulation joint at a node of at least one of the waveguideand the ultrasonic blade. First and second helical cables may be coupledto the first plate at points offset from the longitudinal axis and mayextend proximally. A gear may be positioned proximally from the flexiblearticulation joint and may have a first side that interlocks with thefirst helical cable and a second side that interlocks with a secondhelical cable such that rotation of the gear causes differentialtranslation of the first and second helical cables.

In other embodiments, the shaft of the surgical instrument comprises aproximal tube and a distal tube. An end effector may be coupled to adistal portion of the distal tube and a flexible articulation portionmay be positioned between the proximal tube and the distal tube. Invarious embodiments, the proximal tube defines a first channelpositioned near an interior wall of the proximal tube. The surgicalinstrument may also comprise a first articulation cable coupled to atleast one of the end effector and the distal tube and extendingproximally through the first channel of the proximal tube such thatproximal translation of the first articulation cable pulls the distaltube and the end effector away from the longitudinal axis towards thefirst articulation cable.

In another embodiment, the flexible articulation portion comprises aplurality of interfacing joint members. Each of the joint members maydefine first and second channels. A first articulation cable may becoupled to at least one of the end effector and the distal tube and mayextend through the first channels of the plurality of joint members. Asecond articulation cable may be coupled to at least one of the endeffector and the distal tube and may extend through the second channelsof the plurality of joint members. The first and second articulationcables may be transitionable between an unlocked position where thefirst and second cables are free to translate distally and proximallyand the plurality of joint members are slidable relative to one anotherto pivot the distal tube and end effector away from the longitudinalaxis, and a locked position where translation of the first and secondcables is locked, causing the position of the end effector and distaltube relative to the longitudinal axis to also be locked.

Various embodiments are directed to surgical instruments for use withrobotic surgical systems. The surgical instruments may comprise an endeffector to treat tissue, a shaft extending proximally from the endeffector along a longitudinal axis and a housing. The shaft may becoupled to a distal end of the housing. In various embodiments, asurgical instrument comprises a first magnetic element positioned withinthe housing. A first cable may be coupled to the first magnetic elementand may extend distally from the first magnetic element and distallythrough the shaft such that actuation of the magnetic element causes thefirst cable to translate along the longitudinal axis. The first magneticelement may be actuated by a rotatable body positioned within thehousing. An actuation member may extend from the rotatable body to aswitch of the first magnetic element such that rotation of the rotatablebody alternately transitions the switch from a first position where thefirst magnetic element is actuated to a second position where the firstmagnetic element is not actuated.

In various embodiments, a surgical instrument comprises a firstrotatable body positioned within the housing and comprising a first pegoffset from a center of rotation of the first rotatable body. A secondrotatable body may also be positioned within the housing and maycomprise a second peg offset from a center of rotation of the secondrotatable body. An elastic band may be coupled to the first peg and thesecond peg. Further, a cable may be coupled to the elastic band andextend distally through the shaft. Rotation of the first and secondrotatable bodies that moves the first and second pegs proximally alsopulls the elastic band and cable proximally.

In various embodiments, a surgical instrument comprises a firstrotatable body positioned within the housing and comprising a first pegoffset from a center of rotation of the first rotatable body. A secondrotatable body may also be positioned within the housing and maycomprise a second peg offset from a center of rotation of the secondrotatable body. A rotational axis of the first rotatable body may bepositioned distally from a rotational axis of the second rotatable body.A cable may be fixedly secured to an interior portion of the housing,routed by the first and second pegs, and extend distally through theshaft such that rotation of the first and second rotatable bodies causesthe cable to translate along the longitudinal axis.

In various embodiments, the end effector comprises an ultrasonic blade.The instrument may further comprise an ultrasonic transducer coupled toa proximal end of the shaft, a waveguide acoustically coupled to theultrasonic transducer and the ultrasonic blade and extending through theshaft. The shaft may extend through the housing. The shaft, ultrasonictransducer, waveguide, and end effector may be translatable distally andproximally along the longitudinal axis.

In various embodiments, the end effector comprises at least one energyelement for providing energy to tissue. The instrument may furthercomprise a battery assembly for powering the at least one energyelement. The battery assembly may comprise a rechargeable batterypositioned within the housing. The rechargeable battery may beelectrically coupled to the at least one energy element. The batteryassembly may also comprise an inductive coil coupled to the rechargeablebattery. The inductive coil may be positioned to be placed in proximitywith a second inductive coil providing electrical energy for rechargingthe battery.

In various embodiments where the end effector comprises at least oneenergy element, the instrument further comprises a power cordelectrically coupled to the at least one energy element and extendingfrom the housing. The power cord may comprise therein a generator forproviding a drive signal to the at least one energy element. Also, invarious embodiments where the end effector comprises at least one energyelement, the instrument further comprises a removable battery assemblyfor powering the at least one energy element. The removable batteryassembly may be receivable into the exterior socket of the housing to bein electrical communication with the at least one energy element.

Applicant also owns the following patent applications that are eachincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 13/536,271, filed on Jun. 28, 2012 andentitled “Flexible Drive Member,” now U.S. Pat. No. 9,204,879;

U.S. patent application Ser. No. 13/536,288, filed on Jun. 28, 2012 andentitled “Multi-Functional Powered Surgical Device with ExternalDissection Features,” now U.S. Patent Application Publication No.2014/005718;

U.S. patent application Ser. No. 13/536,295, filed on Jun. 28, 2012 andentitled “Rotary Actuatable Closure Arrangement for Surgical EndEffector,” now U.S. Pat. No. 9,119,657;

U.S. patent application Ser. No. 13/536,326, filed on Jun. 28, 2012 andentitled “Surgical End Effectors Having Angled Tissue-ContactingSurfaces,” now U.S. Pat. No. 9,289,256;

U.S. patent application Ser. No. 13/536,303, filed on Jun. 28, 2012 andentitled “Interchangeable End Effector Coupling Arrangement,” now U.S.Pat. No. 9,028,494;

U.S. patent application Ser. No. 13/536,393, filed on Jun. 28, 2012 andentitled “Surgical End Effector Jaw and Electrode Configurations,” nowU.S. Patent Application Publication No. 2014/0005640;

U.S. patent application Ser. No. 13/536,362, filed on Jun. 28, 2012 andentitled “Multi-Axis Articulating and Rotating Surgical Tools,” now U.S.Pat. No. 9,125,662; and

U.S. patent application Ser. No. 13/536,417, filed on Jun. 28, 2012 andentitled “Electrode Connections for Rotary Driven Surgical Tools,” nowU.S. Pat. No. 9,101,385.

It will be appreciated that the terms “proximal” and “distal” are usedthroughout the specification with reference to a clinician manipulatingone end of an instrument used to treat a patient. The term “proximal”refers to the portion of the instrument closest to the clinician and theterm “distal” refers to the portion located furthest from the clinician.It will further be appreciated that for conciseness and clarity, spatialterms such as “vertical,” “horizontal,” “up,” or “down” may be usedherein with respect to the illustrated embodiments. However, surgicalinstruments may be used in many orientations and positions, and theseterms are not intended to be limiting or absolute.

Various embodiments of surgical instruments and robotic surgical systemsare described herein. It will be understood by those skilled in the artthat the various embodiments described herein may be used with thedescribed surgical instruments and robotic surgical systems. Thedescriptions are provided for example only, and those skilled in the artwill understand that the disclosed embodiments are not limited to onlythe devices disclosed herein, but may be used with any compatiblesurgical instrument or robotic surgical system.

Reference throughout the specification to “various embodiments,” “someembodiments,” “one example embodiment,” or “an embodiment” means that aparticular feature, structure, or characteristic described in connectionwith the embodiment is included in at least one example embodiment.Thus, appearances of the phrases “in various embodiments,” “in someembodiments,” “in one example embodiment,” or “in an embodiment” inplaces throughout the specification are not necessarily all referring tothe same embodiment. Furthermore, the particular features, structures,or characteristics illustrated or described in connection with oneexample embodiment may be combined, in whole or in part, with features,structures, or characteristics of one or more other embodiments withoutlimitation.

While various embodiments herein have been illustrated by description ofseveral embodiments and while the illustrative embodiments have beendescribed in considerable detail, it is not the intention of theapplicant to restrict or in any way limit the scope of the appendedclaims to such detail. Additional advantages and modifications mayreadily appear to those skilled in the art. For example, each of thedisclosed embodiments may be employed in endoscopic procedures,laparoscopic procedures, as well as open procedures, without limitationsto its intended use.

It is to be understood that at least some of the figures anddescriptions herein have been simplified to illustrate elements that arerelevant for a clear understanding of the disclosure, while eliminating,for purposes of clarity, other elements. Those of ordinary skill in theart will recognize, however, that these and other elements may bedesirable. However, because such elements are well known in the art, andbecause they do not facilitate a better understanding of the disclosure,a discussion of such elements is not provided herein.

While several embodiments have been described, it should be apparent,however, that various modifications, alterations and adaptations tothose embodiments may occur to persons skilled in the art with theattainment of some or all of the advantages of the disclosure. Forexample, according to various embodiments, a single component may bereplaced by multiple components, and multiple components may be replacedby a single component, to perform a given function or functions. Thisapplication is therefore intended to cover all such modifications,alterations and adaptations without departing from the scope and spiritof the disclosure as defined by the appended claims.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdoes not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

What is claimed is:
 1. A surgical instrument, comprising: a shaftextending along a longitudinal axis, wherein the shaft comprises: adistal portion; and an articulatable portion positioned proximal to thedistal portion, wherein the articulatable portion comprises a pluralityof joint members, and wherein each joint member comprises a firstchannel and a second channel; a first articulation cable extendingthrough each first channel of each of the plurality of joint members tothe distal portion; a second articulation cable extending through eachsecond channel of each of the plurality of joint members to the distalportion; and a lock assembly positioned proximal to the articulatableportion, wherein the lock assembly comprises: a first post; a secondpost; and a rotatable member positioned between the first post and thesecond post, wherein the rotatable member is rotatable relative to thefirst post and the second post, and wherein the rotatable member isconfigured to engage the first articulation cable and the secondarticulation cable; wherein the first articulation cable and the secondarticulation cable are transitionable between: an unlocked state, wherethe first articulation cable and the second articulation cable are freeto translate distally and proximally and the plurality of joint membersare slidable relative to one another to pivot the distal portion awayfrom the longitudinal axis; and a locked state, where translation of thefirst articulation cable and the second articulation cable is locked,causing a position of the distal portion relative to the longitudinalaxis to be locked.
 2. The surgical instrument of claim 1, wherein eachjoint member defines a distal concave face and a proximal convex face tointerface with adjacent joint members.
 3. The surgical instrument ofclaim 1, further comprising: a boot surrounding the articulatableportion, wherein the boot is configured to constrain an extent to whichthe plurality of joint members are slideable relative to one another. 4.The surgical instrument of claim 3, wherein the boot comprises alubricant for the plurality of joint members to slide relative to oneanother.
 5. The surgical instrument of claim 1, wherein, in the unlockedstate, the plurality of joint members are slidable relative to oneanother in response to a force external to the surgical instrument. 6.The surgical instrument of claim 1, wherein the first articulation cableand the second articulation cable are tightened to lock the translationof the first articulation cable and the second articulation cable. 7.The surgical instrument of claim 1, wherein the first articulation cableis routed between the first post and the rotatable member, wherein thesecond articulation cable is routed between the second post and therotatable member, and wherein the rotatable member is rotatable to: afirst angular position in the unlocked state, wherein at the firstangular position the first articulation cable is movable between therotatable member and the first post and the second articulation cable ismovable between the rotatable member and the second post; and a secondangular position in the locked state, wherein at the second angularposition the first articulation cable is locked between the rotatablemember and the first post and the second articulation cable is lockedbetween the rotatable member and the second post.
 8. The surgicalinstrument of claim 7, wherein the rotatable member defines a firstsurface and a second surface, wherein the first surface is configured toallow the first articulation cable to move between the first surface anda surface of the first post at the first angular position, and whereinthe second surface is configured to allow the second articulation cableto move between the second surface and a surface of the second post atthe first angular position.
 9. The surgical instrument of claim 7,wherein the rotatable member defines a first surface and a secondsurface, wherein the first surface is configured to pinch the firstarticulation cable between the first surface and a surface of the firstpost to lock the first articulation cable at the second angularposition, and wherein the second surface is configured to pinch thesecond articulation cable between the second surface and a surface ofthe second post to lock the second articulation cable at the secondangular position.
 10. The surgical instrument of claim 1, furthercomprising: an end effector coupled to a distal end of the distalportion, wherein the end effector comprises at least one of anultrasonic end effector or an electrosurgical end effector.
 11. Thesurgical instrument of claim 10, wherein the distal portion comprises adistal tube, and wherein the surgical instrument further comprises: aproximal tube positioned proximal to the articulatable portion; and amember that extends through the proximal tube, the articulatableportion, and the distal tube to the end effector.
 12. A surgical tool,comprising: an instrument mounting portion comprising a lock mechanismincluding a rotatable member positioned between a first fixed member anda second fixed member, wherein the rotatable member is rotatablerelative to the first fixed member and the second fixed member; and ashaft extending distally from the instrument mounting portion along alongitudinal axis, wherein the shaft comprises: a distal portion; and anarticulation joint portion positioned proximal to the distal portion,wherein the articulation joint portion comprises a plurality of jointmembers, and wherein each joint member comprises a first channel and asecond channel; a first cable extending through each first channel ofeach of the plurality of joint members to the distal portion, whereinthe rotatable member is configured to engage the first cable; and asecond cable extending through each second channel of each of theplurality of joint members to the distal portion, wherein the rotatablemember is configured to engage the second cable; wherein the first cableand the second cable are transitionable between: a first state, wherethe first cable and the second cable are slackened and the plurality ofjoint members are slidable relative to one another to articulate thedistal portion away from the longitudinal axis; and a second state,where the first cable and the second cable are tightened and theplurality of joint members are not slidable relative to one another tolock the distal portion in a position relative to the longitudinal axis.13. The surgical tool of claim 12, wherein each joint member defines afirst distal face and a second proximal face to interface with adjacentjoint members.
 14. The surgical tool of claim 12, wherein, in the firststate, the plurality of joint members are slidable relative to oneanother in response to a force external to the surgical tool.
 15. Thesurgical tool of claim 12, wherein the rotatable member is rotatable to:a first position, wherein at the first position the first cable ismovable between the rotatable member and the first fixed member and thesecond cable is movable between the rotatable member and the secondfixed member such that the plurality of joint members of thearticulation joint portion are slidable relative to one another; and asecond position, wherein at the second position the first cable islocked between the rotatable member and the first fixed member and thesecond cable is locked between the rotatable member and the second fixedmember such that the plurality of joint members of the articulationjoint portion are not slidable relative to one another.
 16. The surgicaltool of claim 12, further comprising: an end effector coupled to adistal end of the distal portion, wherein the end effector comprises atleast one of an ultrasonic end effector or an electrosurgical endeffector.
 17. The surgical tool of claim 16, wherein the distal portioncomprises a distal tube, and wherein the surgical tool furthercomprises: a proximal tube positioned proximal to the articulation jointportion; and a member that extends through the proximal tube, thearticulation joint portion, and the distal tube to the end effector. 18.A robotic surgical system, comprising: a surgical instrument,comprising: a shaft extending along a longitudinal axis, wherein theshaft comprises an articulation joint including a plurality of jointmembers, and wherein each joint member comprises a first channel and asecond channel; an articulatable member positioned distal of thearticulation joint; a first cable extending through each first channelof each of the plurality of joint members to the articulatable member;and a second cable extending through each second channel of each of theplurality of joint members to the articulatable member; and a lockassembly, comprising: a first post; a second post; and a rotatablemember positioned between the first post and the second post, whereinthe rotatable member is rotatable relative to the first post and thesecond post, and wherein the rotatable member is configured to engagethe first cable and the second cable; wherein the first cable and thesecond cable are transitionable between: a first state, where the firstcable and the second cable are slackened and the plurality of jointmembers are slideably movable relative to one another to articulate thearticulatable member away from the longitudinal axis; and a secondstate, where the first cable and the second cable are tightened and theplurality of joint members are not slideably movable relative to oneanother to lock the articulatable member in a position relative to thelongitudinal axis.
 19. The robotic surgical system of claim 18, wherein,in the first state, the plurality of joint members are movable relativeto one another in response to a force external to the surgicalinstrument.
 20. The robotic surgical system of claim 18, wherein thearticulatable member comprises a distal portion of the shaft or an endeffector.